Verbesserte Konzepte zur Positions- und Kraftreglung elektrohydraulischer Antriebe : Dissertation
Detiček, Edvard
The performed Ph.D.thesis deals with some new non-linear and adaptive control concepts for position and force closed loop control of electrohydraulic cylinder drives. The objective was a development ...of practically useful digital control algorithms to improve reference tracking behaviour and disturbance rejection ability of both control loops. Based on detailed dynamic anlysis two control structures are developed and presented in thye first part. For position control a combination of self-tuning controller, inverse model filter and switching integrator is proposed. This enables a perfect reference tracking behaviour and precise steady state positioning as well as good adaption on external disturbance and parameter changes. The control structure for force control consist of a PID-controller with limited integration to improve reference tracking, while the disturbance rejection is improved by introducing an additional feedforward velocity loop with adaptive variable gain. In parallel to the above mentioned algorithms based on conventional theory, investigations were made to look for a possibility to apply fuzzy logic algorithms to obtain the same objectives as shown in the second part. Besides a PD-type fuzzy controller with constant rule base also a selflearning fuzzy algorithm is developed to be applied on position control. For force control a fuzzy algorithm with PID-similar behaviour is proposed. Because of some non-linear characteristics and appropriate rule base selection satisfaying reference tracking and disturbance rejection is achieved simultaneously without adding control loops, using only the force transducer. The verification of the effectiveness of the new contol algorithms has been carried out on two different testing devices. Experimental results are also shown.
Vrsta gradiva - disertacija
Založništvo in izdelava - Graz : [E. Detiček], 1998
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