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Source: alexandria.tue.nl
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Mon May 06, 2013 08:54:08 AM
Short Desciption:
actuators, is the combination of hydraulic servo control and mimo systems. ..... 2) How does this influence the control of a mimo hydraulic system with
Summary:
Introduction 1
1.1 A hydraulic motion system . 1
1.2 Problem definition 1
1.3 Siso set-up . 2
1.4 Mimo set-up . 3
I Modelling 5
2 White box Model 7
2.1 White box modelling . 7
2.1.1 Hydraulic actuators . 7
2.1.2 Servo valves 8
2.1.3 Flow through the valve . 10
2.2 External mechanics 11
2.3 The overall set-up 11
2.4 Conclusion 12
3 Black box model 13
3.1 Measurement fits . 13
3.1.1 Pole zero fit in MCDesign 14
3.2 Linear parameter varying model 15
3.3 White box model fitted onto the black box model . 17
3.3.1 Transfer functions 18
3.3.2 Constant flow . 19
3.3.3 Fixed rod . 20
3.4 Conclusion 21
II Control design 23
4 Classical hydraulic control 25
4.1 Control set-up 25
4.2 Description of the control problem . 25
4.3 Control lay-out 26
xi
xii CONTENTS
4.4 Classical hydraulic control 27
4.5 Classical hydraulic control results 28
4.6 Conclusion 29
5 H∞ control 31
5.1 Introduction to H∞ control . 31
5.1.1 Mixed sensitivity and four block notation . 32
5.2 H∞ lay-out 33
5.3 Filter design 33
5.3.1 Actuator limitation 34
5.3.2 Measurement noise 34
5.3.3 Plant uncertainty . 34
5.3.4 We and Vr filter tuning . 35
5.4 Position feedback . 35
5.4.1 Position feedback filter tuning 36
5.4.2 Position feedback results . 38
5.4.3 Position feedback implementation 39
5.5 Position and pressure feedback . 40
5.5.1 Position and pressure feedback filter tuning 40
5.5.2 Position and pressure feedback results . 41
5.5.3 Position feedback implementation 43
5.6 Conclusion 43
6 LPV control 45
6.1 Introduction to LPV control . 45
6.2 LPV position feedback 46
6.2.1 LPV filter tuning . 46
6.3 LPV results 46
6.4 Discretisation . 49
6.5 Implementation 52
6.6 Conclusion 53
III Further research and conclusions 55
7 Two DOF system 57
7.1 Mimo general layout . 57
7.2 Design . 57
7.3 The equation of motion . 58
7.4 Linearisation . 60
7.5 Modelling . 60
8 Conclusions and recommendations 63
8.1 Conclusions 63
8.1.1 Modelling . 63
8.1.2 Control 63
8.1.3 MIMO system 64
8.2 Recommendations 64
8.2.1 Control 64
8.2.2 MIMO system 65
References 68
A Matlab tools 69
A.1 Simulink simulation files . 69
CONTENTS xiii
A.2 H∞ control functions . 69
A.3 LPV control functions 69
A.4 Simulation functions for the 2 dof model 70
A.5 Functions to plot the results depicted in this report 70
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"Modelling and control of a hydraulic servo system"
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