Aiming at the problems as the nonlinear factors and the position disturbance in the electro-hydraulic servo loading system of pumping unit, the conventional control method cant attain perfect effect.

抽油机电液伺服加载系统存在非线性和位置扰动引起的准确度问题，传统的控制方法不能达到理想的效果。

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A hybrid control method for passive electro-hydraulic servo loading system was proposed based on new compensation structure and nonlinear PID controller.

研究了基于新型补偿结构和非线性PID控制器的被动式电液伺服加载复合控制方法。

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Considering the nonlinear and the parameters variability, which vary widely with the working condition in the electro-hydraulic servo velocity system, fuzzy gain scheduling controller was developed.

针对电液伺服速度系统的非线性和参数时变特性，提出了模糊增益调度控制方法。

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