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Item Information   Holdings       More by this author     Haugstad, Howard J.     Subjects     Hydraulic servomechanisms     Fluid power technology     Process control     Algorithms     Adaptive control systems     Gantries.     MSE Project.     Browse Catalog     by author:      Haugstad, Howard J.       by title:      Simulation and contr...         MARC Display

Simulation and control of a non-linear hydraulic x-y gantry system / Howard J. Haugstad. by Haugstad, Howard J. Subjects Hydraulic servomechanisms   Fluid power technology   Process control   Algorithms   Adaptive control systems   Gantries.   MSE Project. Description:  214 leaves : ill. ; 29 cm. Contents:  Advisor: Thomas Labus. Committee members: Dr. John Lumkes, Jr., Hue Tran. Introduction -- Steady state component model development -- Dynamic component model development -- Control system development -- XY gantry profile generation -- Simulation development -- Simulation results -- Simulation validation issues -- Conclusions and future research -- References -- Bibliography -- Appendix A) Simulation results - typical X and Y axis time based results B) Simulation results - typical X and Y axis performance index C) Derivation of the valve control of cylinder motion (VCCM) equation D) Derivation of the velocity form of the VCCM equation E) Derivation of the nonlinear valve-cylinder dynamic models F) Derivation of the bulk modulus characteristics equation G) MATLAB code - hydraulic valve-cylinder simulation H) MATLAB code - main plotting routines I) MATLAB code - square profile creation J) MATLAB code - figure of merit analysis K) MATLAB code - export simulation results L) MATLAB code - creation of interpolating linear polynomials with parabolic blends M) Simulink code - nonlinear hydraulic X-Y gantry system N) Bode plot valve data O) Data sheet - valve specification P) Data sheet - cylinder specification Q) Final Power Point presentation Project Objective: This thesis presents the development and simulation of position-velocity PID control algorithm for a numerically stiff non-linear hydraulic XY axis gantry system. Methodology: The tuning of the control system and sensitivity analysis of the bulk modulus, supply pressure, and tank pressure on the non-linear system equations was performed with the use of an integrate time-squared error-squared per sample (ISTE/S) performance index. Conclusions: Several major conclusions were obtained from the study. 1) In general, the higher operating supply pressure the less error, as measured by the ISTE performance index, occurs for both the position and velocity control loops. 2) Performance is improved when the tank pressure is minimized for any fixed supply pressure. 3) The first two conclusions are valid if and only if the systems bulk modulus is maintained within an acceptable operating range of 88,000 to 220,000 PSI. 4) The use of ISTE/S performance index is an effective method to perform sensitivity analysis of simulation models. 5) The system's ISTE/S performance remains essentialy constant (with fixed supply, tank pressures, and controller gains) until the change in bulk modulus reduces the system's natural frequency and damping ratio to the point the PID controller parameters need to be adjusted. Typically, only the integration term of the PID controller is required to be retuned to account for the change in system's natural frequency and damping ratio. 6) Trajectory planning algorithms are necessary to specify time based motion laws.   Copy/Holding information Location Collection Call No. Status   Walter Schroeder Library Master's Theses AC805 .H38 2002 Available Add Copy to MyList Format: HTMLPlain textDelimited Subject:   Email to:

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