Thesis: Robust Position Control of Hydraulic System Subjected to Different Load Patterns
Robust Position Control of Hydraulic System Subjected to Different load Patterns
(Cairo, 2013)
Abstract:
The continuous motion of hydraulic implement in industrial applications is important parameters which affects productivity of mould casting machine. A lab setup is designed to evaluate a position control technique of a hydraulic cylinder at different load patterns. The lab setup consists of two loops, the first loop represents the controlled cylinder and the second loop represents the control of the loading cylinder. A controller is developed to reduce the synchronization errors in cylinders positions to acceptable values. The second loop is controlled so that to simulate variable loads with different patterns. A model representing the lab setup is developed and the system response is verified using experimental results. In this thesis, the background information of hydraulic systems was reviewed. A Simulink model of a typical commercial electro-hydraulic proportional system was constructed and verified on an experimental system. The uncertainty in the model is different load pattern. The theories of robust control and classical control were reviewed. A µ-synthesis control algorithm was developed for position tracking of such hydraulic system. The performance of the controlled system relies on the accuracy of the system model. To compensate for parameter uncertainties in the model, a parameter adaptation based on µ-synthesis was developed. The adaptation scheme was coupled with the control law and applied to an experimental system. The experimental results show very good tracking for position at different load patterns. The hybrid fuzzy robust control was developed on simulation and test rig using Matlab/Simulink. The main aim from this thesis is to develop a Hybrid Fuzzy Robust Control in order to eliminate the different pattern of load non linearity effect and enhance the performance of the system according to simulation and experimental results.
Keywords:
Load cylinder, Hybrid Fuzzy Robust Control, Robust µ-synthesis controller, PID, Pattern of load.
By: Shady Ahmed Maged
Supervised by: Prof. Magdy M.AbdelHameed
Dr. Mohamed Abdel Aziz
(Cairo, 2013)
Abstract:
The continuous motion of hydraulic implement in industrial applications is important parameters which affects productivity of mould casting machine. A lab setup is designed to evaluate a position control technique of a hydraulic cylinder at different load patterns. The lab setup consists of two loops, the first loop represents the controlled cylinder and the second loop represents the control of the loading cylinder. A controller is developed to reduce the synchronization errors in cylinders positions to acceptable values. The second loop is controlled so that to simulate variable loads with different patterns. A model representing the lab setup is developed and the system response is verified using experimental results. In this thesis, the background information of hydraulic systems was reviewed. A Simulink model of a typical commercial electro-hydraulic proportional system was constructed and verified on an experimental system. The uncertainty in the model is different load pattern. The theories of robust control and classical control were reviewed. A µ-synthesis control algorithm was developed for position tracking of such hydraulic system. The performance of the controlled system relies on the accuracy of the system model. To compensate for parameter uncertainties in the model, a parameter adaptation based on µ-synthesis was developed. The adaptation scheme was coupled with the control law and applied to an experimental system. The experimental results show very good tracking for position at different load patterns. The hybrid fuzzy robust control was developed on simulation and test rig using Matlab/Simulink. The main aim from this thesis is to develop a Hybrid Fuzzy Robust Control in order to eliminate the different pattern of load non linearity effect and enhance the performance of the system according to simulation and experimental results.
Keywords:
Load cylinder, Hybrid Fuzzy Robust Control, Robust µ-synthesis controller, PID, Pattern of load.
By: Shady Ahmed Maged
Supervised by: Prof. Magdy M.AbdelHameed
Dr. Mohamed Abdel Aziz