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[ pdf ] Modelling and control of a hydraulic servo system

Modelling and control of a hydraulic servo system Download
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Topic under  Control Engineering
Source: alexandria.tue.nl 
File size: 3.07 MB
File type: pdf
Last download on: Wed Nov 29, 2017 10:59:57 PM
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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