Patent ID: 8099196

Claim:
A control method for a mechanohydraulic system which includes at least one hydraulic actuator and with a degree of freedom for each of the hydraulic actuators, each of the hydraulic actuators being a controlled element operated by a controller, and each of the hydraulic actuators having a desired pressure {hacek over (p)} h , the method comprising: receiving a measured pressure p h and a measured position x h of each respective hydraulic actuator by an observer in the mechanohydraulic system; determining by the observer a desired momentum {circumflex over (p)} of each of the hydraulic actuators and, from this, a desired non-measurable speed {circumflex over (v)} h of each of the hydraulic actuators; determining by the observer the desired pressure {hacek over (p)} h of each of the hydraulic actuators; taking into account the desired pressure {hacek over (p)} h of each of the hydraulic actuators and the desired non-measurable speed {circumflex over (v)} h of each of the hydraulic actuators in the control method, and locking the desired non-measurable speed {circumflex over (v)} h of each of the hydraulic actuators onto the hydraulic actuator for which the respective desired non-measurable speed {circumflex over (v)} h is specified as damping, wherein a variable proportional to the desired non-measurable speed {circumflex over (v)} h of each of the hydraulic actuators is locked onto the output signal of the controller to damp the hydraulic actuator for which the respective desired non-measurable speed {circumflex over (v)} h is specified; and utilizing a switch for locking a measured acceleration a h of each of the hydraulic actuators onto the hydraulic actuator for which the respective measured acceleration a h is measured as damping, when a measured acceleration a h is present, wherein a variable proportional to the measured acceleration a h of each of the hydraulic actuators is locked onto the output signal of the controller to damp the hydraulic actuator for which the respective measured acceleration a h is measured.