The control of electro-hydraulic servo-systems has received considerable attention in recent years. This is because electro-hydraulic systems are able to generate high loads with very fast response times using servo-valves to provide accurate control. In addition, they are able to maintain their load capacity indefinitely, in contrast to electrical systems which are prone to excessive heat generation. Electro-hydraulic systems are widely used in many industries such as industrial automation, robotics, manufacturing and mining, as well as other special purpose applications.
While typical hydraulic systems have relatively simple mechanical components, they are characterized by non-linear dynamics, in particular, a square-root relationship between the differential pressure that drives the flow of the hydraulic fluid and the flow rate. Most commercial controllers for industrial electro-hydraulic systems are based on PID control and use gains obtained by linearizing the system dynamics around a fixed operating point. Thus, they have performance limitations due to the presence of nonlinearities and also due to imprecise knowledge of the system parameters.
In this study, we use adaptive pole-placement control to improve the controller performance for electro-hydraulic systems. The approach is as follows:
- The recursive least-squares algorithm (RLS) is used to identify the plant parameters.
- These estimated parameters are used to design a linear pole-placement controller.
The performance of the proposed control algorithm is evaluated by simulation using Matlab/Simulink®.
| Date | 14 Jan 2010 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Jean-Pierre Kenné (Supervisor) & Ravinder Venugopal (Co-supervisor) |
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Lenga, A. M. (Author),
Kenné (Supervisor) & Venugopal (Co-supervisor),
14 Jan 2010Student thesis: Master's thesis › Master in Engineering: Electrical Engineering