Abstract
In different industrial processes in which position and force control are desired, electro-hydraulic systems have a widespread area of utilization. Models of electro-hydraulic systems include high order nonlinearity. In this study, a gain scheduling linear model corresponded with nonlinear model of a hydraulic force actuator system is developed. The proposed model is constituted in two distinct and consecutive stages. In the first step, nonlinear terms caused to nonlinearity are described by the means of measurable or observable system parameters and embedded in a nonlinear scheduling parameter. Thus, the scheduling parameter is continuously extracted from main system. In the second step, the nonlinear system equation is rearranged by the scheduling parameter and by this way parameter varying linear model is obtained. The simulations which are performed by use of Matlab-Simulink computer program show that the proposed model rightly fits to the nonlinear system model.
Highlights
Precision of position and force control of hydraulic systems is the key role of engineering applications in order to design more economical and quality systems
Deticek and Kastrevc [6] considered the nonlinear mathematical model of electro-hydraulic position servo system and, some simplifications of mathematical model according to specifications of real components
Nonlinear mathematical model of the hydraulic actuator with proposed gain scheduling model are presented in Sect
Summary
Precision of position and force control of hydraulic systems is the key role of engineering applications in order to design more economical and quality systems. Of a hydraulically actuated system which was consisted of an asymmetric hydraulic cylinder rode by a four way, three position proportional valve Interesting point of this model is that the bulk modulus parameter is considered as variable. To remain within linear control theory and design a controller with high performance, it is a must to use a linear model corresponded with the nonlinear model At this point, gain scheduling based modeling presents a powerful tool [11,12,13,14,15,16,17,18]. Gain scheduling is a widely used technique for modeling and controlling certain classes of linear or nonlinear time/parameter varying systems. Nonlinear mathematical model of the hydraulic actuator with proposed gain scheduling model are presented in Sect.
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