Abstract: A velocity-pressure control apparatus of a hydraulic machine includes a pressure command generator, a pressure sensor, a pressure controller, a velocity command generator, a velocity limiter, a switch, a comparator, a velocity sensor, and a motor driver. The pressure controller receives a pressure compensation signal composed by the pressure command generator and the pressure sensor. The velocity limiter receives a compensation velocity signal from the pressure controller and a predetermined velocity signal from the velocity command generator and outputs a corresponding limiting velocity command signal to the switch. The comparator controls the velocity-pressure control apparatus to work at a velocity control mode when the pressure compensation signal is a positive signal or a null signal, and controls the velocity-pressure control apparatus to work at a master pressure control and slave velocity control mode when the pressure compensation signal is a negative signal.

Abstract: A velocity-pressure control apparatus of a hydraulic machine includes a pressure command generator, a pressure sensor, a pressure controller, a velocity command generator, a velocity limiter, a switch, a comparator, a velocity sensor, and a motor driver. The pressure controller receives a pressure compensation signal composed by the pressure command generator and the pressure sensor. The velocity limiter receives a compensation velocity signal from the pressure controller and a predetermined velocity signal from the velocity command generator and outputs a corresponding limiting velocity command signal to the switch. The comparator controls the velocity-pressure control apparatus to work at a velocity control mode when the pressure compensation signal is a positive signal or a null signal, and controls the velocity-pressure control apparatus to work at a master pressure control and slave velocity control mode when the pressure compensation signal is a negative signal.