• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文学位 >Design and experimental evaluation of robust controllers for electro-hydraulic actuators.
【24h】

Design and experimental evaluation of robust controllers for electro-hydraulic actuators.

机译：电动液压执行器鲁棒控制器的设计和实验评估。

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This thesis presents the design and experimental evaluation of robust controllers for an electrohydraulic actuator that operates under significant system uncertainties and nonlinearities. The designed controllers allow the actuator (i) to follow a free space trajectory (motion control), (ii) to exert a desired force while in contact with an uncertain environment (force control), and (iii) to pass through the transition phase from free space to constrained space successfully and stably exert force on the environment (contact task control).; Firstly, a robust force controller is designed using linear and nonlinear approaches within the framework of Quantitative Feedback Theory (QFT). In the linear approach, the effects of nonlinearities and uncertainties, such as environmental stiffness and operating points, are accounted for by describing the linearized model parameters as structured uncertainties. The nonlinear approach is based on linear time-invariant equivalent models of the system that can precisely represent the nonlinear plant over a wide range of operation. The equivalent models can be generated by the nonlinear mathematical equations of the hydraulic actuator, or be obtained directly from input-output measurements of the actual system. Given the equivalent models/linearized model, a controller is designed to satisfy a priori specified stability, tracking and disturbance rejection specifications.; Secondly, the nonlinear QFT approach is used to design an explicit position controller to regulate the actuator in free space.; Finally, for contact task control, a simple switching condition is proposed based on robust position and force controllers, to make the transition from free space to a constrained one. The stability of the contact controller is shown using an extended version of Lyapunov's second method under the condition of existence and uniqueness of Filippov's solution.; The developed controllers enjoy the simplicity of fixed-gain controllers, are easy to implement, and at the same time are robust to the variation of hydraulic functions as well as environmental stiffness. Numerous experimental tests are performed on an industrial hydraulic actuator equipped with a servovalve and include motion through free space, contact with the environment and the transition between the two.
机译：本文提出了在明显的系统不确定性和非线性条件下运行的电动液压执行器鲁棒控制器的设计和实验评估。设计的控制器允许执行器（i）遵循自由空间轨迹（运动控制），（ii）在不确定的环境中接触时施加所需的力（力控制），（iii）通过过渡阶段从自由空间到受限空间，成功且稳定地向环境施加压力（接触任务控制）；首先，在定量反馈理论（QFT）的框架内，采用线性和非线性方法设计了一种鲁棒的力控制器。在线性方法中，通过将线性化模型参数描述为结构化不确定性来解决非线性和不确定性（例如环境刚度和工作点）的影响。非线性方法基于系统的线性时不变等效模型，该模型可以在广泛的操作范围内精确表示非线性设备。等效模型可以通过液压执行器的非线性数学方程式生成，也可以直接从实际系统的输入-输出测量中获得。在给定等效模型/线性模型的情况下，设计一种控制器来满足先验指定的稳定性，跟踪和干扰抑制规范。其次，非线性QFT方法用于设计一个显式位置控制器，以调节自由空间中的执行器。最后，对于接触任务控制，提出了一种基于鲁棒位置和力控制器的简单切换条件，以实现从自由空间到受约束空间的过渡。在Filippov解决方案存在和唯一的条件下，使用Lyapunov第二种方法的扩展版本显示了接触控制器的稳定性。开发的控制器享有固定增益控制器的简便性，易于实施，同时对液压功能和环境刚度的变化具有鲁棒性。在配备伺服阀的工业液压执行器上进行了许多实验测试，包括通过自由空间的运动，与环境的接触以及两者之间的过渡。

著录项

  • 作者

    Niksefat, Navid.;

  • 作者单位

    The University of Manitoba (Canada).;

  • 授予单位 The University of Manitoba (Canada).;
  • 学科 Engineering Mechanical.
  • 学位 Ph.D.
  • 年度 2003
  • 页码 115 p.
  • 总页数 115
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号