Identifikacija i regulacija elektrohidrauličkog servosustava

master's thesis

• Title (english): Identification and control of an electro-hydraulic servosystem
• Author: Toni Peran
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2016-12-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Tema ovog diplomskog rada je identifikacija elektrohidrauličkog sustava pomoću Matlabovog programskog alata System Identification Toolbox. Cilj ovoga procesa je dobivanje matematičkog modela koji opisuje dinamiku eksperimentalnog elektrohidrauličkog postava i omogućavanje sinteze regulatora pozicije hidrauličkog cilindra.

Kako bi se to postiglo, na ulaz eksperimentalnog sustava se dovode pobudni signali različitog karaktera i snima se odziv sustava. Ulaz sustava predstavlja napon (-10 V do +10 V) na hidrauličkom razvodniku, a izlaz sustava je pozicija hidrauličkog cilindra koja se mjeri pomoću linearnog enkodera. Da bi se dobio što bolji model i prikazalo što vjernije praćenje referentnog signala potrebno je odabrati dobar pobudni signal. Nakon prikupljanja ulazno-izlaznih podataka, na osnovi njih, pristupa se estimaciji parametara modela pomoću različitih metoda estimacije. Nakon estimacije, proveden je proces validacije modela gdje se prikazuje kvaliteta odziva različitih modela i uspoređuju se s mjerenim odzivom i međusobno.

Kada se dobije zadovoljavajuće ponašanje modela, njegova prijenosna funkcija predstavlja stvarni proces u regulacijskom krugu i provodi se sinteza regulatora. Projektirani regulator je prvo provjeren na računalnoj simulaciji u Simulinku, a poslje toga je primijenjen na eksperimentalni sustav.

Abstract (english)

The subject of this thesis is identification of an electro-hydraulic servosystem with Matlab tool System Identification Toolbox. Objective of this process is to get a mathematical model which describes dynamics of experimental electro-hydraulic system and to make possible controller synthesis for position of hydraulic cylinder.

To achieve that, the various kinds of signals are applied on the input of experimental system and the output is recorded. Input of the system is voltage (from -10 V to +10 V) on hydraulic distributor, and the output is position of the hydraulic cylinder which is measured with linear encoder. To get the better model and to present better tracking of reference signal it is necessary to choose the right excitation signal. After recording of input-output data, parameter estimation follows with different estimation methods. After estimation, the process of validation is carried out where the quality of different models is shown and their comparison with measured response.

When there is satisfying behaviour of the model, its transfer function represents the real process in control circuit and then the controller synthesis is carried out. First the designed controller is tested on computer simulation in Simulink and then applied on experimental system.

• Keywords: Elektrohidraulički sustav; identifikacija procesa; estimacija parametara modela; validacija; sinteza regulatora.
• Keywords (english): Electro-hydraulic system; identification of process; parameter estimation of model; validation; controller synthesis.
• Language: croatian
• URN:NBN: urn:nbn:hr:235:797222
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 18:05:21