A robust controller design for closed-loop electrohydraulic actuator model with real-time simulation

Tan, Tian Poh (2021) A robust controller design for closed-loop electrohydraulic actuator model with real-time simulation. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The electro-hydraulic system is a nonlinear system that consists of an electrical signal processing system and hydraulic components. The electrical signal control compartment is responsible for signal input, signal processing and signal output whereas the hydraulic compartment responsible to carry out mechanical action according to the specified output signal. An electro hydraulic actuator (EHA) is a self-contained actuator powered by an electrical power signal instead of hydraulic energy. EHA leads to reliable and simple system architecture due to components such as hydraulic pumps and tubing is constructed together as a package. The design of a closed-loop electro-hydraulic actuator is necessary to cope with various plant variation such as noise, physical factors and internal factors that greatly reduce the productivity of the system. The robust design approach is important in a system in order to enhance engineering productivity as well as improve the performance of a control system. This study proposed the design of a robust controller for the closed-loop EHA model by using the PID controller and Variable Structure Control (VSC). The designed robust controller is implemented into the EHA system so that the mechanical output of the system is linear with the input electrical signal without affected by the disturbances. Graphical modelling of the system is constructed with the SIMSCAPE FLUID library of MATLAB software to evaluate the response of the system. The PID (Ziegler-Nichols with fine-tuning) system is proposed as the best system with the lowest Root-Mean-Square-Error (RMSE) value for all the evaluations and tests. The system also reduces the overshoot and settling time in the PID (Ziegler-Nichols) system by 63.7% and 30.3% respectively in the transient and steady-state analysis. Other than that, the system has the best performance in setpoint tracking evaluation with the fastest response and lowest RMSE value of 2.397× 10−7.

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