Hydraulic servo-systems: modelling, identification and control
Gespeichert in:
| Beteiligte Personen: | , |
|---|---|
| Format: | Buch |
| Sprache: | Englisch |
| Veröffentlicht: |
London ; Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong
Springer
2003
|
| Schriftenreihe: | Advances in industrial control
|
| Schlagwörter: | |
| Links: | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009987392&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Umfang: | XXX, 355 S. Ill., graph. Darst. |
| ISBN: | 1852336927 |
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| 245 | 1 | 0 | |a Hydraulic servo-systems |b modelling, identification and control |c Mohieddine Jelali and Andreas Kroll |
| 264 | 1 | |a London ; Berlin ; Heidelberg ; New York ; Barcelona ; Hong Kong |b Springer |c 2003 | |
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Datensatz im Suchindex
| DE-BY-TUM_call_number | 0702 MSR 772f 2003 A 307 |
|---|---|
| DE-BY-TUM_katkey | 1438839 |
| DE-BY-TUM_location | 07 |
| DE-BY-TUM_media_number | 040070926515 |
| _version_ | 1821932577515110400 |
| adam_text | MOHIEDDINE JELALI AND ANDREAS KROLL HYDRAULIC SERVO-SYSTEMS MODELLING,
IDENTIFICATION AND CONTROL WITH 182 FIGURES SPRINGER CONTENTS NOTATION
XXI 1 INTRODUCTION 1 1.1 HISTORICAL VIEW AND MOTIVATION FOR HYDRAULIC
SYSTEMS 1 1.2 AIMS AND FOCUS OF THE BOOK -. 3 1.3 OUTLINE OF THE
CHAPTERS 5 1.4 BACKGROUND OF THE WORK AND BIBLIOGRAPHICAL NOTES 7 2
GENERAL DESCRIPTION OF HYDRAULIC SERVO-SYSTEMS 9 2.1 BASIC STRUCTURE OF
HYDRAULIC SERVO-SYSTEMS 9 2.2 DESCRIPTION OF THE COMPONENTS 10 2.2.1
VALVES 11 2.2.2 PUMPS AND ACTUATORS 16 2.2.3 POWER SUPPLIES 18 2.3
CLASSIFICATION OF HYDRAULIC SERVO-SYSTEMS 19 2.4 MEASUREMENT AND CONTROL
DEVICES 21 2.4.1 CONTROL LOOPS 21 2.4.2 SENSORS/TRANSDUCERS 23 2.5
APPLICATION EXAMPLES 26 2.5.1 HYDRAULICALLY ACTUATED MANIPULATORS : 26
2.5.2 HYDRAULIC AUTOMATIC GAUGE CONTROL FOR ROLLING MILLS 26 3 PHYSICAL
FUNDAMENTALS OF HYDRAULICS 29 3.1 PHYSICAL PROPERTIES OF FLUIDS 29 3.1.1
VISCOSITY AND RELATED QUANTITIES 29 3.1.2 MASS DENSITY, BULK MODULUS AND
RELATED QUANTITIES 31 3.1.3 EFFECTIVE BULK MODULUS 32 3.1.4 SECTION
SUMMARY 36 3.2 GENERAL EQUATIONS OF FLUID MOTION 36 3.2.1 CONTINUITY
EQUATION AND PRESSURE TRANSIENTS 37 3.2.2 NAVIER-STOKES EQUATION 38
3.2.3 BERNOULLI S THEOREM 39 3.2.4 SECTION SUMMARY : 40 3.3 FLOW THROUGH
PASSAGES 40 3.3.1 FLOW ESTABLISHMENT IN PIPELINES 41 3.3.2 FLOW THROUGH
ORIFICES 42 3.3.3 FLOW THROUGH VALVES 48 XVI CONTENTS 3.3.4 SECTION
SUMMARY 50 3.4 SPOOL PORT FORCES 50 3.5 ELECTRO-HYDRAULIC ANALOGY 51
3.5.1 HYDRAULIC CAPACITANCE 51 3.5.2 HYDRAULIC RESISTANCE 51 3.5.3
HYDRAULIC INDUCTANCE 52 4 PHYSICALLY BASED MODELLING 53 4.1 INTRODUCTION
. 53 4.1.1 CHARACTERISATION OF SUBSYSTEMS 54 4.1.2 MODEL COMPLEXITY AND
APPLICATIONS 56 4.2 ELEMENTARY MODELS 58 4.2.1 VALVES 58 4.2.2 HYDRAULIC
CYLINDERS 69 4.2.3 HYDRAULIC PUMPS AND MOTORS 72 4.2.4 POWER SUPPLIES .
77 4.2.5 PIPELINES 79 4.3 TYPICAL NON-LINEAR STATE-SPACE MODELS 96 4.4
STRUCTURED AND SIMPLIFIED MODELS OF VALVE-CONTROLLED SYSTEMS 98 4.4.1
RELEVANCE OF VALVE AND PIPELINE DYNAMICS 98 4.4.2 APPROXIMATION OF
PRESSURE DYNAMICS 100 4.4.3 INTRODUCTION OF LOAD PRESSURE 102 4.4.4
LINEARISED MODELS 104 4.5 DETERMINATION OF SPECIFIC MODEL PARAMETERS 113
4.5.1 STATIC VALVE CHARACTERISTICS 113 4.5.2 DYNAMIC VALVE
CHARACTERISTICS 115 4.5.3 ACTUATOR DIMENSIONS AND MASS 116 4.5.4
FRICTION FORCES 116 4.5.5 LEAKAGE COEFFICIENTS AND VALVE UNDERLAP 120
4.6 IMPLEMENTATION AND SOFTWARE TOOLS ; 122 4.6.1 SIMULATION OF FRICTION
FORCES 122 4.6.2 SIMULATION OF MECHANICAL SATURATIONS 123 4.6.3
SIMULATION PACKAGES 124 4.7 SECTION SUMMARY 126 5 EXPERIMENTAL MODELLING
(IDENTIFICATION) 127 5.1 INTRODUCTION 127 5.1.1 GENERIC IDENTIFICATION
PROCEDURE 128 5.1.2 LINEAR VS. NON-LINEAR IDENTIFICATION 130 5.1.3
ONLINE VS. OFFLINE IDENTIFICATION 131 5.2 PRE-IDENTIFICATION PROCESS 131
5.2.1 DESIGN OF INPUT SIGNALS 131 5.2.2 PRE-COMPUTATIONS 134 5.3
OVERVIEW OF MODEL STRUCTURES 136 5.3.1 INTRODUCTORY REMARKS AND
DEFINITIONS 136 5.3.2 REVIEW OF LINEAR MODEL STRUCTURES 140 5.3.3
NON-LINEAR INPUT-OUTPUT MODELS 145 5.3.4 NON-LINEAR STATE-SPACE MODELS
147 CONTENTS XVII 5.4 DESCRIPTION OF SELECTED NON-LINEAR MODEL
STRUCTURES 148 5.4.1 CONTINUOUS-TIME SPECIAL (CANONICAL) MODELS 148
5.4.2 FUZZY MODELS 152 5.4.3 ARTIFICIAL NEURAL NETWORKS 162 5.5
PARAMETER ESTIMATION METHODS 166 5.5.1 PREDICTION ERROR METHODS 167
5.5.2 CLASSICAL LEAST-SQUARES ANALYSIS 167 5.5.3 ORTHOGONAL
LEAST-SQUARES ESTIMATOR 170 5.5.4 MAXIMUM LIKELIHOOD METHOD 175 5.5.5
BIAS/VARIANCE DILEMMA AND REGULARISATION CONCEPTS 176 5.6 OPTIMISATION
ALGORITHMS 179 5.6.1 NEWTON S METHOD 179 5.6.2 DAMPED GAUSS-NEWTON
METHOD 180 5.6.3 LEVENBERG-MARQUARDT ALGORITHM 180 5.6.4 COMPUTATIONAL
ASPECTS 182 5.7 GREY-BOX IDENTIFICATION OF NON-LINEAR HYDRAULIC
SERVO-SYSTEM MODELS. 184 5.7.1 IDENTIFICATION OF PRESSURE DYNAMICS MODEL
184 5.7.2 IDENTIFICATION OF LOAD DYNAMICS MODEL 185 5.7.3 ONLINE
IDENTIFICATION FOR ADAPTIVE CONTROL 186 5.7.4 IDENTIFICATION OF GENERAL
MODELS 187 5.8 FUZZY IDENTIFICATION 187 5.8.1 INTRODUCTION AND MODEL
PARAMETER OVERVIEW 188 5.8.2 STRUCTURE IDENTIFICATION 189 5.8.3
PARAMETER IDENTIFICATION (PREMISE) 193 5.8.4 PARAMETER IDENTIFICATION
(CONCLUSION) 196 5.8.5 OPTIMISATION 197 5.9 IDENTIFICATION WITH
ARTIFICIAL NEURAL NETWORKS 199 5.9.1 SELECTION OF ARTIFICIAL NEURAL
NETWORK ARCHITECTURES 200 5.9.2 ESTIMATION OF WEIGHTS 201 5.9.3
OPTIMISATION OF NETWORK ARCHITECTURE (GROWING/PRUNING) 203 5.10 MODEL
VALIDATION AND COMPARISON OF MODEL STRUCTURES 204 5.10.1 PREDICTION,
SIMULATION AND CROSS-VALIDATION 204 5.10.2 RESIDUAL TESTS 205 5.10.3
MODEL STRUCTURE TEST CRITERIA 206 5.11 IMPLEMENTATION AND SOFTWARE TOOLS
208 5.12 SECTIORFSUMMARY 209 HYDRAULIC CONTROL SYSTEMS DESIGN . 213 6.1
INTRODUCTION 213 6.1.1 GENERAL APPROACHES 214 6.1.2 LITERATURE SCAN AND
CLASSIFICATION 216 6.2 CLASSICAL FEEDBACK CONTROL DESIGN 216 6.2.1
PRESSURE FEEDBACK 218 6.2.2 ACCELERATION FEEDBACK 220 6.2.3 POSITION
FEEDBACK 221 6.2.4 SUMMARY 222 6.3 ESTIMATOR-BASED STATE FEEDBACK
CONTROL 223 6.3.1 COMPUTATION OF THE STATE CONTROL LAW 223 XVIII
CONTENTS 6.3.2 SELECTION OF POLE LOCATIONS 225 6.3.3 ELIMINATION OF
STEADY-STATE ERRORS 227 6.3.4 APPLICATION TO HYDRAULIC SERVO-SYSTEM
LINEAR MODELS 228 6.4 EXTENSIONS TO LINEAR FEEDBACK CONTROL 229 6.4.1
COMBINED FEEDBACK AND FEEDFORWARD CONTROL 229 6.4.2 ADAPTIVE CONTROL 233
6.4.3 COMPENSATION OF SPECIAL (STATIC) NON-LINEARITIES 234 6.4.4
CONCLUSIONS AND DRAWBACKS OF CLASSICAL APPROACHES 239 6.5 FEEDBACK
LINEARISING CONTROL 239 6.5.1 FEEDBACK LINEARISATION AND THE COMPANION
FORM 240 6.5.2 INTUITIVE CONCEPT OF INPUT-OUTPUT LINEARISATION 240 6.5.3
FORMALISED THEORY OF FEEDBACK LINEARISATION 243 6.5.4 APPLICATION TO
HYDRAULIC SERVO-SYSTEM MODELS 249 6.5.5 FEEDBACK LINEARISATION BASED ON
BILINEAR MODELS 254 6.6 APPROACHES SIMILAR TO FEEDBACK LINEARISATION 256
6.6.1 DIRECT INVERSE CONTROL 256 6.6.2 CASCADE LOAD PRESSURE (LOAD
FORCE) CONTROL 257 6.7 FUZZY CONTROL 260 6.7.1 FUZZY STATE CONTROL 261
6.7.2 FUZZY MODEL PREDICTIVE CONTROL 267 6.8 NEURAL-NETWORK-BASED
CONTROL 274 6.8.1 NEURAL-NETWORK-BASED FEEDBACK LINEARISATION 274 6.8.2
CONTROL BASED ON INSTANTANEOUS LINEARISATION 275 6.9 VIBRATION DAMPING
CONTROL 276 6.9.1 INTRODUCTION 276 6.9.2 VIBRATION DAMPING CONCEPT 277
6.9.3 INTEGRATED VELOCITY CONTROL 278 6.10 STATE ESTIMATION 279 6.10.1
VELOCITY ESTIMATION 279 6.10.2 ESTIMATION OF ACCELERATION AND FRICTION
FORCES 282 6.10.3 ESTIMATION OF EXTERNAL FORCES .. . 284 6.11
IMPLEMENTATION AND SOFTWARE TOOLS 286 6.12RRAPID PROTOTYPING TOOLS FOR
CONTROL 286 6.13 SECTION SUMMARY 288 7 CASE STUDIES AND EXPERIMENTAL
RESULTS 291 7.1 IDENTIFICATION AND CONTROL OF A SYNCHRONISING CYLINDER
291 7.1.1 SYSTEM DESCRIPTION 291 7.1.2 CONTINUOUS-TIME MODEL IN
CANONICAL FORM 293 7.1.3 FUZZY MODEL IDENTIFICATION 294 7.1.4 FUZZY
MODEL PREDICTIVE CONTROLLER AND FUZZY STATE FEEDBACK CONTROLLER 295
7.1.5 NEURAL NETWORK (MULTI-LAYER PERCEPTRON) IDENTIFICATION 298 7.1.6
SECTION SUMMARY 299 7.2 MODELLING AND CONTROL OF A SMALL DIFFERENTIAL
CYLINDER 299 7.2.1 SYSTEM DESCRIPTION 300 7.2.2 PHYSICALLY BASED MODEL
301 7.2.3 LINEAR VS. NON-LINEAR CONTROL 303 CONTENTS XIX 7.3 CONTROL OF
A BIG DIFFERENTIAL CYLINDER 307 7.3.1 SYSTEM DESCRIPTION . 307 7.3.2
LINEAR VS. NON-LINEAR CONTROL 307 7.4 VIBRATION DAMPING CONTROL FOR A
FLEXIBLE ROBOT 311 7.5 VIBRATION DAMPING CONTROL FOR A CONCRETE PUMP 313
APPENDIX A FLUID POWER SYMBOLS 317 APPENDIX B DATA AND CATALOGUE SHEETS
321 B.I PARAMETER SETS FOR EXPERIMENTAL SETUPS 321 B.2 TYPICAL PARAMETER
VALUES FOR SIMULATION OF SERVO-VALVES 324 B.3 SOME CATALOGUE DIAGRAMS
324 APPENDIX C NON-LINEAR CONTROL BACKGROUND 327 C. 1 KRONECKER
PRODUCT/MATRIX OPERATIONS 327 C.2 LIE DERIVATIVES AND LIE BRACKETS 329
C.3 DIFFEOMORPHISMS AND STATE TRANSFORMATIONS 330 C.4 APPROXIMATION OF
NON-LINEAR SYSTEMS 331 REFERENCES 333 SUBJECT INDEX 351
|
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| id | DE-604.BV014744234 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T11:07:10Z |
| institution | BVB |
| isbn | 1852336927 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-009987392 |
| oclc_num | 248996861 |
| open_access_boolean | |
| owner | DE-703 DE-29T DE-91G DE-BY-TUM DE-573 DE-706 DE-83 |
| owner_facet | DE-703 DE-29T DE-91G DE-BY-TUM DE-573 DE-706 DE-83 |
| physical | XXX, 355 S. Ill., graph. Darst. |
| publishDate | 2003 |
| publishDateSearch | 2003 |
| publishDateSort | 2003 |
| publisher | Springer |
| record_format | marc |
| series2 | Advances in industrial control |
| spellingShingle | Jelali, Mohieddine 1969- Kroll, Andreas Hydraulic servo-systems modelling, identification and control Servomécanismes hydrauliques Hydraulic servomechanisms Servohydraulik (DE-588)4471065-3 gnd |
| subject_GND | (DE-588)4471065-3 |
| title | Hydraulic servo-systems modelling, identification and control |
| title_auth | Hydraulic servo-systems modelling, identification and control |
| title_exact_search | Hydraulic servo-systems modelling, identification and control |
| title_full | Hydraulic servo-systems modelling, identification and control Mohieddine Jelali and Andreas Kroll |
| title_fullStr | Hydraulic servo-systems modelling, identification and control Mohieddine Jelali and Andreas Kroll |
| title_full_unstemmed | Hydraulic servo-systems modelling, identification and control Mohieddine Jelali and Andreas Kroll |
| title_short | Hydraulic servo-systems |
| title_sort | hydraulic servo systems modelling identification and control |
| title_sub | modelling, identification and control |
| topic | Servomécanismes hydrauliques Hydraulic servomechanisms Servohydraulik (DE-588)4471065-3 gnd |
| topic_facet | Servomécanismes hydrauliques Hydraulic servomechanisms Servohydraulik |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009987392&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT jelalimohieddine hydraulicservosystemsmodellingidentificationandcontrol AT krollandreas hydraulicservosystemsmodellingidentificationandcontrol |
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