Abstract
Problem statement: Electro-hydraulic actuators are widely used in motion control application. Its valve needs to be controlled to determine direction of the motion. Mathematical modeling is a description of a system in terms of equations. It can be divided into two parts; physical modeling and system identification. The objective of this study was to obtain mathematical model of an electro-hydraulic system using system identification technique by estimating model using System Identification Toolbox in MATLAB. Approach: Experimental works were done to collect input and output data for model estimation and ARX model was chosen as model structure of the system. The best model was accepted based on the best fit criterion and residuals analysis of autocorrelation and cross correlation of the system input and output. PID controller was designed for the model through simulation in SIMULINK. The controller is tuning by Ziegler-Nichols method. The simulation work was verified by applying the controller to the real system to achieve the best performance of the system. Results: The result showed that the output of the system with controller in simulation mode and experimental works were improved and almost similar. Conclusion/Recommendations: The designed PID controller can be applied to the electro-hydraulic system either in simulation or real-time mode. The self-tuning or automatic tuning controller could be developed in future work to increase the reliability of the PID controller.
Highlights
Electro-hydraulic actuator system: Electro-Hydraulic Actuators (EHA) are highly non-linear system with uncertain dynamics in which the mathematical representation of the system cannot sufficiently represent the practical system (Wang et al, 2009)
Applied Sci., 7 (8): 1100-1108, 2010 system based on hardware-in-the-loop simulation environment of Real-Time Workshop (RTW) and system identification toolbox in MATLAB has been proposed (Wang et al, 2009; Shao et al, 2009)
The proposed Proportional Integral Derivative (PID) controller for the model obtained is applied in simulation mode only without applying it in real time mode
Summary
Electro-hydraulic actuator system: Electro-Hydraulic Actuators (EHA) are highly non-linear system with uncertain dynamics in which the mathematical representation of the system cannot sufficiently represent the practical system (Wang et al, 2009). The actuator plays a vital role in manoeuvring industrial processes and manufacturing line. The electro-hydraulic actuator can use either proportional valve or servo valve. There are electro-hydraulic valve actuators which move rotary motion valves such as ball, plug and butterfly valves through a quarter-turn or more from open to close. There are valve actuators which move linear valves such as gate, globe, diaphragm and pinch valves by sliding a stem that controls the closure element. Valve actuators are added to throttling valves which can be moved to any position as part of a control loop
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