Robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka

master's thesis

• Title (english): Robust control of an electro-hydraulic servo system using backstepping method
• Author: Hrvoje Pinculić
• Mentor: Željko Šitum (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-07-20, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Tema ovog diplomskog rada je robusno upravljanje elektrohidrauličkog servosustava primjenom metode povratnog koraka (eng. backstepping). Cilj ovog rada je dobivanje matematičkog modela koji opisuje dinamiku elektrohidrauličkog sustava upravljanog nelinearnim backstepping regulatorom.

U radu je opisan elektrohidraulički sustav i njegove komponente te je izveden matematički model nelinearnog sustava i opisana je metoda povratnog koraka (eng. backstepping control) robusnog nelinearnog upravljanja kao i primjena na elektrohidrauličkom servosustavu. Simulacija je napravljena u programskog paketu Matlab (Simulink). Na ulaz simulacijskog modela dovode se pobudni signali različitog oblika i prati se odziv sustava. Referentni signal izveden je kao napon (-10 V do +10 V) koji predstavlja položaj klipa cilindra (0 ÷ 300 mm) a na temelju regulacijskog odstupanja regulator pratit referenti signal.

Kada je dobiveno zadovoljavajuće ponašanje modela napravljen je eksperiment na laboratorijskom postavu elektrohidrauličkog sustava gdje je uspoređen klasični PID regulatora s regulatorom povratnog koraka.

Abstract (english)

The subject of this thesis is robust control of an electro-hydraulic servo system using backstepping method. Objective of this process is to get a mathematical model which describes dynamics of electro-hydraulic system with backstepping controller and make possible to control position of piston in hydraulics cylinder.

The electro-hydraulic servo system and its components are described in this thesis. Synthesis of mathematical model of the nonlinear electrohydraulic system with backstepping control is also described. The simulation was made in Matlab program package. Input of the system is voltage (from -10 V to +10V) indicating the position of the cylinder piston (0 ÷ 300mm) entering the regulator and trying to track the reference signal.

When there is satisfying behaviour of the model, an experiment was performed on the laboratory model of the electrohydraulic system where the classical PID controller was compared with backstepping controller.

• Keywords: Elektrohidraulički servosustav; nelinearni regulator; regulator povratnog hoda; Lyapunovljeva analiza stabilnosti; sinteza regulatora
• Keywords (english): Electro-hydraulic system; nonlinear controller; backstepping method; controller synthesis; Lyapunov stability
• Language: croatian
• URN:NBN: urn:nbn:hr:235:689611
• 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 19:43:41