Nonlinear robust control of electrohydraulic systems:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Düsseldorf
VDI-Verl.
2013
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | Fortschritt-Berichte VDI : Reihe 8, Mess-, Steuerungs- und Regelungstechnik
1224 Berichte aus dem Institut für Automatisierungstechnik und Mechatronik der TU Darmstadt |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XII, 173 S. Ill., graph. Darst. |
| ISBN: | 9783185224089 |
Internformat
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Datensatz im Suchindex
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|---|---|
| adam_text | V
CONTENTS
LIST OF SYMBOLS VIII
ABSTRACT XI
KURZFASSUNG XII
1 INTRODUCTION 1
1.1 MOTIVATION 1
1.2 PROBLEM STATEMENT AND WORK OBJECTIVES 3
1.3 MAIN CONTRIBUTION OF THE THESIS 4
1.4 OUTLINE OF THE THESIS 4
2 ELECTRO-HYDRAULIC SYSTEMS 6
2.1 CLASSIFICATION AND BASIC STRUCTURES OF ELECTRO-HYDRAULIC SYSTEMS 6
2.2 BASIC ELEMENTS OF ELECTRO-HYDRAULIC SYSTEMS 8
2.2.1 PROPORTIONAL CONTROL VALVES 8
2.2.2 HYDRAULIC CYLINDERS 10
2.2.3 SPEED VARIABLE PUMP UNITS 10
2.3 CONTROL OF ELECTRO-HYDRAULICS: HISTORY AND STATE OF ART 12
2.4 APPLICATION EXAMPLES 16
3 PRACTICAL MODELING OF INDUSTRIAL ELECTRO-HYDRAULIC DRIVES 19
3.1 VALVE-CONTROLLED DIFFERENTIAL CYLINDER 19
3.1.1 HYDRAULIC CYLINDER 19
3.1.2 STATIC AND DYNAMIC BEHAVIOR OF PROPORTIONAL VALVES ... 26
3.1.3 MODEL UNCERTAINTIES AND SIMPLIFICATIONS 31
3.2 SPEED VARIABLE PUMP SYSTEMS 36
4 FUNDAMENTALS OF SMC THEORY WITH REFERENCE TO HYDRAULIC DRIVES 44
4.1 PRINCIPLE, FEATURE AND DESIGN OF SMC 45
4.1.1 SYNTHESIS OF SLIDING MODE CONTROL LAW 50
4.1.2 INTEGRAL SLIDING MODE 53
HTTP://D-NB.INFO/104267213X
VI
CONTENTS
4.2 CHATTERING EFFECT AND CHATTERING ALLEVIATION CONCEPTS 56
4.2.1 CHATTERING IN ELECTRO HYDRAULIC SYSTEMS 57
4.2.2 CHATTERING ALLEVIATION CONCEPTS FOR ELECTRO-HYDRAULIC
SYSTEMS 64
4.3 CHAPTER SUMMARY 78
5 SLIDING MODE STATE RECONSTRUCTION METHODS FOR ELECTRO-HYDRAULIC
DRIVES 79
5.1 HIGHER ORDER SLIDING MODE ACCELERATION OBSERVER 81
5.2 EXPERIMENTAL VERIFICATION OF 2SMC ACCELERATION OBSERVER .... 83
6 QUASI SLIDING MODE CONTROL FOR POSITION CONTROL OF DIFFERENTIAL
CYLINDER 91
6.1 CONTROLLER DESIGN 91
6.2 CONTROLLER TUNING 98
6.3 ROBUSTNESS AND TRACKING PROPERTIES OF QUASI SMC 102
6.4 CHAPTER SUMMARY 103
7 INPUT-OUTPUT LINEARIZATION POSITION CONTROL WITH INTEGRAL SLIDING
MODE DISTURBANCE COMPENSATION 106
7.1 INPUT OUTPUT LINEARIZATION FOR POSITON TRACKING CONTROL 107
7.2 DISTURBANCE COMPENSATOR FOR POSITION TRACKING CONTROLLER .... 112
7.3 CONTROLLER TUNING 113
7.4 EXPERIMENTAL VERIFICATION OF THE CONTROLLER PERFORMANCE 118
7.5 DISTURBANCE COMPENSATOR BASED ON SUPER TWISTING 123
7.6 CHAPTER SUMMARY 127
8 ROBUST NONLINEAR LOAD-PRESSURE CONTROL 128
8.1 CONTROLLER DESIGN 128
8.2 EXPERIMENTAL RESULTS 131
9 ROBUST AP-CASCADE POSITION CONTROLLER 140
9.1 OUTER LOOP DESIGN AND TUNING 140
9.2 EXPERIMENTAL RESULTS 144
10 SLIDING MODE COMPENSATOR FOR SPEED VARIABLE PUMP SYSTEMS 151
10.1 CONTROLLER DESIGN FOR SVP-SYSTEMS 151
10.2 EXPERIMENTAL RESULTS 157
11 SUMMARY 159
CONTENTS
VII
A EXPERIMENTAL SETUPS 161
A.L TEST-BED
REXROTH-AXIS 161
A.2 TEST-BED AACHEN-AXIS 162
A.3 VALVE CATALOG DATA 163
A.4 TEST-BED SPEED VARIABLE PUMP HYDRAULIC POWER UNIT (SVP-
HPU) 164
BIBLIOGRAPHY 166
|
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
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| id | DE-604.BV041356389 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:54:49Z |
| institution | BVB |
| isbn | 9783185224089 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-026804849 |
| oclc_num | 859844109 |
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| owner | DE-83 DE-210 |
| owner_facet | DE-83 DE-210 |
| physical | XII, 173 S. Ill., graph. Darst. |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | VDI-Verl. |
| record_format | marc |
| series2 | Fortschritt-Berichte VDI : Reihe 8, Mess-, Steuerungs- und Regelungstechnik Berichte aus dem Institut für Automatisierungstechnik und Mechatronik der TU Darmstadt |
| spelling | Komsta, Jan 1984- Verfasser (DE-588)1042649057 aut Nonlinear robust control of electrohydraulic systems Jan Komsta Als Ms. gedr. Düsseldorf VDI-Verl. 2013 XII, 173 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Fortschritt-Berichte VDI : Reihe 8, Mess-, Steuerungs- und Regelungstechnik 1224 Berichte aus dem Institut für Automatisierungstechnik und Mechatronik der TU Darmstadt Elektrohydraulischer Antrieb (DE-588)4212298-3 gnd rswk-swf Sliding-Mode (DE-588)4320090-4 gnd rswk-swf Druckregelung (DE-588)4150720-4 gnd rswk-swf Lageregelung (DE-588)4034076-4 gnd rswk-swf Elektrohydraulischer Antrieb (DE-588)4212298-3 s Lageregelung (DE-588)4034076-4 s Druckregelung (DE-588)4150720-4 s Sliding-Mode (DE-588)4320090-4 s DE-604 Verein Deutscher Ingenieure Fortschrittberichte VDI 8 1224 (DE-604)BV000882482 1224 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026804849&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Komsta, Jan 1984- Nonlinear robust control of electrohydraulic systems Elektrohydraulischer Antrieb (DE-588)4212298-3 gnd Sliding-Mode (DE-588)4320090-4 gnd Druckregelung (DE-588)4150720-4 gnd Lageregelung (DE-588)4034076-4 gnd |
| subject_GND | (DE-588)4212298-3 (DE-588)4320090-4 (DE-588)4150720-4 (DE-588)4034076-4 |
| title | Nonlinear robust control of electrohydraulic systems |
| title_auth | Nonlinear robust control of electrohydraulic systems |
| title_exact_search | Nonlinear robust control of electrohydraulic systems |
| title_full | Nonlinear robust control of electrohydraulic systems Jan Komsta |
| title_fullStr | Nonlinear robust control of electrohydraulic systems Jan Komsta |
| title_full_unstemmed | Nonlinear robust control of electrohydraulic systems Jan Komsta |
| title_short | Nonlinear robust control of electrohydraulic systems |
| title_sort | nonlinear robust control of electrohydraulic systems |
| topic | Elektrohydraulischer Antrieb (DE-588)4212298-3 gnd Sliding-Mode (DE-588)4320090-4 gnd Druckregelung (DE-588)4150720-4 gnd Lageregelung (DE-588)4034076-4 gnd |
| topic_facet | Elektrohydraulischer Antrieb Sliding-Mode Druckregelung Lageregelung |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026804849&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000882482 |
| work_keys_str_mv | AT komstajan nonlinearrobustcontrolofelectrohydraulicsystems |