Modelling and Control of Hydraulic Actuators
Tampere University
Core content
· Principles of modelling with Matlab/Simulink.
· Modelling and simulation as a tool.
· Basic modelling techniques of hydraulic systems.
· Properties of the hydraulic fluids. Modelling a state equation of the fluid. Calculation of the effective bulk modulus.
· Modelling of an orifice.
· Four way valve (non-linear) modelling (dynamics, flow paths, control).
· Hydraulic cylinder modelling together with a simple mechanical model.
· Dynamic friction model.
· Interaction between of models of different sub-components.
· Complete hydraulic system modelling.
· Electrohydraulic servo systems and servo valves
· Modelling of 1-DOF hydraulic servo systems: Non-linear model, linearization, state-space and transfer function models
· Characteristics and tuning of simple feedback controllers
· Selection of components of hydraulic servo systems
Complementary knowledge
· Orifices in series/parallel.
· Spool valve leakage modelling.
· Collision model of the cylinder ends.
· Tracking control
·
Pressure
feedback
Specialist knowledge
· Saturation of the orifice by the cavitation.
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