Title
Control of an Electrohydraulic Actuation System: RealTime Control of an Electrohydraulic Actuation System by Experimental Chara,Used
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Electrohydraulic systems have higher powertoweight ratio and higher speed of response in comparison to electrical actuators. Advancement in the computational power and userfriendly reembedding option of realtime control algorithm in FieldProgrammable GateArray, or FPGA, architecture hold promise for the design and use of the more precise and robust nonlinear modelbased controllers. Nonlinear behavior of the system poses challenge to modeling and control of electrohydraulic systems.The objective of the studies are nonlinear modeling through systematic experimental characterization of the different modules of an electrohydraulic system and their use for realtime control. The mathematical models used in overall plant are used to develop a close loop control model of the plant. An offline nonlinear feedforward control with spring loading on the actuator piston beyond cushioning zone has been developed using these subsystem models by neglecting oil compressibility, valve dynamics and leakage.PID feedback has been used in realtime so as to take care of the unmodelled features and the modeling approximations.Simulation model developed controller is used in realtime.
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