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2003 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Hydraulic Servo-systems

Modelling, Identification and Control

verfasst von: Mohieddine Jelali, Dr-Ing, Andreas Kroll, Dr-Ing

Verlag: Springer London

Buchreihe : Advances in Industrial Control

Enthalten in: Professional Book Archive

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Über dieses Buch

Hydraulic Servo-systems details the basic concepts of many recent developments of nonlinear identification and nonlinear control and their application to hydraulic servo-systems: developments such as feedback linearisation and fuzzy control. It also reviews the principles, benefits and limitations associated with standard control design approaches such as linear state feedback control, feedforward control and compensation for static nonlinearities, because of their continued practical importance. Featuring: theoretical (physically based) modelling of hydraulic servo-systems; experimental modelling (system identification); control strategies for hydraulic servo-systems; case studies and experimental results. Appendices outline the most important fundamentals of (nonlinear) differential geometry and fuzzy control. The book is very application-oriented and provides the reader with detailed working procedures and hints for implementation routines and software tools.

Inhaltsverzeichnis

Frontmatter
1. Introduction
Abstract
Although electrical drives have become increasingly popular for high-performance motion control, hydraulic servo-systems still find a wide variety of applications in present-day industrial motion systems, for instance in machining plants, robotics, motion simulators, fatigue testing systems, metal processing plants, mining, special purpose machines and so on.
Mohieddine Jelali, Andreas Kroll
2. General Description of Hydraulic Servo-Systems
Abstract
This chapter contains a general characterisation of hydraulic servo-systems with some fundamental definitions and a brief description of a number of subsystems of hydraulic servo-systems. It is neither within the scope of this chapter nor our intention to go into the function/construction details of the different subsystems. For this, the reader should consult standard textbooks such as Blackburn et al. (1960), Backé (1992), Backé and Murrenhoff (1994), Findeisen and Findeisen (1994), Rohner (1995), Bauer (1998) and Will et al. (1999). See also the introductory monographs by Götz (1989, 1997), Kleman (1989), Merkle et al. (1997a,ó), Scholz (1997) and Norvelle (2000).
Mohieddine Jelali, Andreas Kroll
3. Physical FUndamentals of Hydraulics
Abstract
The purpose of this chapter is to define some physical properties of hydraulic fluids, and to discuss the fundamental laws and equations of fluid motion, types of flow, and the flow through orifices and valves. It should be mentioned that the intention of this chapter is not to present the complete theoretical basics of fluid motion in hydraulics (or fluid mechanics); it rather summarises those equations and concepts which will be required in the subsequent chapters. For more details and information the reader is always referred to the corresponding literature given throughout the whole chapter.
Mohieddine Jelali, Andreas Kroll
4. Physically Based Modelling
Abstract
This chapter is devoted to the derivation of physical models for hydraulic servo-systems and includes the most relevant dynamic and non-linear effects that are involved in hydraulic servo-systems. The model derivation is based on the physical fundamentals described in Chapter 3 and on first principles. Many assumptions and simplifications must be made to keep the model complexity as low as possible.
Mohieddine Jelali, Andreas Kroll
5. Experimental Modelling (Identification)
Abstract
In Chapter 4, theoretical models of hydraulic servo-systems have been presented and analysed. The subsystem models of hydraulic servo-systems have been brought into representations, which are suitable for controller design. This finally led to simple models, describing the relevant dynamics and non-linearities of the systems, which form the basis for grey-box modelling. This additionally requires experimental modelling, i.e., derivation of models from input—output data. The modelling approach is also referred to as statistical or empirical modelling, the derivation process as identification.
Mohieddine Jelali, Andreas Kroll
6. Hydraulic Control Systems Design
Abstract
The purpose of this chapter is to give a survey of basic and advanced control design methods for HSSs, including theoretical background and application to selected models derived in Chapters 4 and 5. The benefits and limitations associated with standard control design approaches are reviewed. Recent advances in the area of control theory, involving non-linear, “classical” and intelligent control techniques (specifically fuzzy control) will be utilised and applied to HSSs.
Mohieddine Jelali, Andreas Kroll
7. Case Studies and Experimental Results
Abstract
In this chapter, some case studies of the use of selected methods for modelling and control of HSSs are described to demonstrate the performance and different aspects of the methodologies presented in this book. Emphasis is placed on the comparison of widely used classical (mostly linear) approaches with advanced (usually nonlinear) strategies concerning development time, closed-loop performance and computational burden.
Mohieddine Jelali, Andreas Kroll
Backmatter
Metadaten
Titel
Hydraulic Servo-systems
verfasst von
Mohieddine Jelali, Dr-Ing
Andreas Kroll, Dr-Ing
Copyright-Jahr
2003
Verlag
Springer London
Electronic ISBN
978-1-4471-0099-7
Print ISBN
978-1-4471-1123-8
DOI
https://doi.org/10.1007/978-1-4471-0099-7