Velocity control of single-rod hydrostatic actuators: component sizing and controller design

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dc.contributor.authorRafiq, Moosa
dc.contributor.examiningcommitteePeng, Qingjin (Mechanical Engineering) Annakkage, Udaya (Electrical and Computer Engineering)en_US
dc.contributor.supervisorSepehri, Nariman (Mechanical Engineering)en_US
dc.date.accessioned2018-02-14T19:44:12Z
dc.date.available2018-02-14T19:44:12Z
dc.date.issued2018
dc.degree.disciplineMechanical Engineeringen_US
dc.degree.levelMaster of Science (M.Sc.)en_US
dc.description.abstractPump-controlled hydraulic actuation of single-rod actuators is more challenging than double-rod actuators due to difference in areas on two sides of single-rod actuators and a need to compensate for differential flow. The performance of a single-rod pump-controlled hydraulic circuit can be significantly affected by variations in load, velocity and circuit design. Designing a simple-to-implement velocity controller for such hydraulic configurations is challenging under these conditions. This thesis presents velocity control of two typical hydraulic circuits; one is commonly used while the other is a novel design. Two issues involved are controller design and component sizing. The design of velocity controllers is based on Quantitative Feedback Theory (QFT) as the design criteria are graphically illustrated for whole range of plant uncertainties in this design procedure. In order to design QFT controllers for closed-loop velocity control of pump-controlled single-rod hydraulic actuators, smooth open loop performance of hydraulic circuit becomes important. Hence component sizing, i.e., choosing optimal hydraulic components and having an optimal hydraulic design becomes necessary. Hence, a methodology to choose hydraulic components and hence improve system performance is proposed. First, a mathematical model of hydraulic circuit is developed, which is later used in simulations. Next, initial values of selected parameters of circuit components (pilot operated check valves and counterbalance valves) to be used in system are chosen based on manufacturer’s specifications, experimental data and conservative judgement. This is followed by choosing few parameters which need to be optimised. Next, an optimisation algorithm is used on the simulation model to optimize parameters chosen based on an optimization criteria. In optimization, particle swarm optimization (PSO) and modified Nelder-Mead (MNM) algorithms are used to obtain smooth, least jerky system performance. Next QFT Controllers are designed based on uncertainties found where families of transfer functions are to be obtained. For this purpose, system identification is used in order to obtain frequency responses from measured data and hence uncertainties. All the development reported in this research is experimentally validated. First hydraulic circuit is a commonly used circuit incorporating pilot-operated check valves, while as the second novel circuit uses counterbalance valves.en_US
dc.description.noteMay 2018en_US
dc.identifier.urihttp://hdl.handle.net/1993/32886
dc.language.isoengen_US
dc.rightsopen accessen_US
dc.subjectHydraulic circuiten_US
dc.subjectOptimizationen_US
dc.subjectOptimisationen_US
dc.subjectParameteren_US
dc.subjectControlen_US
dc.subjectPilot operated check valveen_US
dc.subjectCounterbalance valveen_US
dc.subjectValveen_US
dc.subjectPSOen_US
dc.subjectMNMen_US
dc.subjectNelderen_US
dc.subjectTen parametersen_US
dc.subjectHydrostaticen_US
dc.subjectPumpen_US
dc.subjectPump Controlen_US
dc.subjectAlgorithmen_US
dc.subjectSimulationen_US
dc.subjectExperimenten_US
dc.subjectCracking pressureen_US
dc.subjectOptimalen_US
dc.subjectNovelen_US
dc.subjectDesignen_US
dc.subjectMethodologyen_US
dc.subjectCriteriaen_US
dc.subjectParticleen_US
dc.subjectSwarmen_US
dc.subjectHydraulic designen_US
dc.subjectOptimal designen_US
dc.subjectValidationen_US
dc.subjectComponent sizingen_US
dc.subjectSizingen_US
dc.subjectSizing hydraulic circuitsen_US
dc.subjectMonikaen_US
dc.subjectVibrationsen_US
dc.subjectUndesirable regionen_US
dc.subjectMultistepen_US
dc.subjectMultistep polynomialen_US
dc.subjectSingle roden_US
dc.subjectDouble roden_US
dc.subjectSingle-roden_US
dc.subjectDouble-roden_US
dc.subjectQFTen_US
dc.subjectQuantitative Feedback Theoryen_US
dc.subjectVelocity controlen_US
dc.subjectVelocityen_US
dc.subjectComponenten_US
dc.subjectHydraulic componenten_US
dc.subjectJerken_US
dc.subjectObjectiveen_US
dc.subjectObjective functionen_US
dc.subjectten parameteren_US
dc.subjectQuadrantsen_US
dc.subjectSystem identificationen_US
dc.subjectChirpen_US
dc.subjectChirp signalen_US
dc.subjectTransfer functionen_US
dc.subjectUncertainitiesen_US
dc.subjectFeedbacken_US
dc.subjectFrequencyen_US
dc.subjectGain marginen_US
dc.subjectPhase marginen_US
dc.titleVelocity control of single-rod hydrostatic actuators: component sizing and controller designen_US
dc.typemaster thesisen_US
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