master defense
TRANSCRIPT
Master Thesis Defense
“Hardware-in-the-loop simulation of a servo cylinder test rig operating in a closed loop position control system
under the effect of a servo loading cylinder”
Submitted byKhaled Hossam Emam
Under Supervision ofDr. Eng. Taher M. Salah El din
Master Thesis Defense
Faculty of Engineering and Material Science Mechatronics Department
The German University in Cairo
Master Thesis Defense
Khaled H. Emam Slide 2/58
Outline Introduction Mechanical Design Hydraulic Design Controller Design Data Acquisition Results Conclusion
Master Thesis Defense
Khaled H. Emam Slide 3/58
Background and Motivation
Hydraulic drives are widely used in industry where high forces and heavy loading conditions should be manipulated.
In order to reach high dynamic response and high power to weight ratio, servo control techniques were applied to the hydraulic systems.
Due to the fact that electrohydraulic systems are complex non-linear system, a lot of research was dedicated to the are of control and response analysis.
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Master Thesis Defense
Khaled H. Emam Slide 4/58
Thesis Objective Development and design of a test rig for electrohydraulic components and
systems to be used for research applications and practical courses for students.
Scope of the Thesis Implementing a Hardware In the Loop (HIL) simulator for position control of
a servo cylinder under the effect of loading servo cylinder.
This study is mainly based on “Salah el-din, T. (2010). "Enhancement of performance of an electrohydraulic servo system for mold oscillation control in continuous casting machines". Ph.D thesis. Cairo University, Faculty of Engineering, Egypt.”
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Master Thesis Defense
Khaled H. Emam Slide 5/58
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Master Thesis Defense
Khaled H. Emam Slide 6/58
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Photograph of Servo Cylinder Test Rig Institute of Fluid Power (TU Dresden)
Master Thesis Defense
Khaled H. Emam Slide 7/58
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Photograph of Servo Cylinder Test Rig at EZDK Steel Plant
Master Thesis Defense
Khaled H. Emam Slide 8/58
Working Plan Study the mechanical and hydraulic components for test rig assembly.
Closed loop Control analysis for both position controlled servo cylinder and force controlled loading servo cylinder, i.e. implementing a system model using Matlab/Simulink.
Considering the electrical and electronic interface between the hardware and software planes.
Calculation of controller parameters using classic control techniques and manual tuning on the test rig at EZDK steel plant.
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Master Thesis Defense
Khaled H. Emam Slide 9/58
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Master Thesis Defense
Khaled H. Emam Slide 10/58
1 Operating Cylinder2 Base Block3 Cross Block- operating side4 Operating Rod5 Tension Rod6 Oscillating Block7 Load Cell Adaptor 8 Load Cell9 Load Cylinder Rod
10 Loading Cylinder11 Cross Block- loading side
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Master Thesis Defense
Khaled H. Emam Slide 11/58
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameter Loading Cylinder
Piston diameter[mm] 100
Piston rod diameter [ mm] 60
Stroke [mm] 100
Piston cross section area [m2] 0.005
Piston chamber volume at piston mid-stroke [m3] 2.5x10-4
Piston mass [kg] 18.5
Maximum operating pressure [MPa] 12
Coefficient of viscous friction [Ns/m] 4255
Parameters of Loading Cylinder
Master Thesis Defense
Khaled H. Emam Slide 12/58
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters of Operating Cylinder
Parameter Operating Cylinder
Piston diameter[mm] 160
Piston rod diameter [ mm] 100
Stroke [mm] 100
Piston cross section area [m2] 0.0122
Piston chamber volume at piston mid-stroke [m3] 6x10-4
Piston mass [kg] 58
Maximum operating pressure [MPa] 7
Coefficient of viscous friction [Ns/m] 12000
Master Thesis Defense
Khaled H. Emam Slide 13/58
Three Stage Servo Valve Bandwidth of the three stage servo valve
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Operating Servo System – Servo Valve
Master Thesis Defense
Khaled H. Emam Slide 14/58
Two Stage Servo Valve Bandwidth of the two stage servo valve
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Loading Servo System – Servo Valve
Master Thesis Defense
Khaled H. Emam Slide 15/58
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Torque Motor
Flapper Valve
Control Spool
Master Thesis Defense
Khaled H. Emam Slide 16/58
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Detailed System Model
Master Thesis Defense
Khaled H. Emam Slide 17/58
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Detailed System Model
Master Thesis Defense
Khaled H. Emam Slide 18/58
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Detailed System Model
0 0.005 0.01 0.015 0.02 0.025 0.03-0.5
0
0.5
1
1.5
2
2.5
3 x 10-4
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
linear valve modeldetailed valve model
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
y = Main spool displacement
= damping ratio of the spool,
= Natural frequency of the valve
=Displacement proportionality coefficient between the control current and valve spool
= Proportional gain
= servo cylinder reference position
= servo cylinder actual position
= Reference loading force
= Actual loading force
Linear System Model
��+2 ζ 𝑠𝜔0𝑣 ��+𝜔0𝑣2 𝑦=𝜔0𝑣
2𝐾 0𝑣 𝑖
The dynamic model of the valve spool can be approximated to a second order transfer function without serious loss of accuracy
𝑖=𝐾 𝑝𝑜𝑝𝑒𝑟𝑎𝑡𝑖𝑛𝑔∗(𝑥𝑟−𝑥𝑎)𝑖=𝐾 𝑝𝑙𝑜𝑎𝑑𝑖𝑛𝑔∗(𝐹 𝑟−𝐹 𝑎)
The controller used is a proportional controller to compensate for the time lag and amplitude shift between the reference and command values
Slide 19/58
Master Thesis Defense
Khaled H. Emam
Linear System Model The non-linear flow rate load characteristic (QL = f(y,PL)) is a function in two
variables. Taylor expansion of the function is applied for each variable taking the working point at .
Flow rate gain : Load gain :
The linearization is calculated at the working points (=0 & =0)
QL. linearized=KQ y . 𝑦+K Qp . PL
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Slide 20/58
Master Thesis Defense
Khaled H. Emam
Linear System Model
The flow continuity equation for the cylinder chamber is given by:
𝑃 𝐿=𝑃 𝐴− 𝑃𝐵=2𝐸𝑉𝐶
¿
The piston equation of motion is as follows
where d is the Viscous Friction Coefficient
𝑚 x+d ��=𝑃𝐿 𝐴𝑐−𝐹 𝑙𝑜𝑎𝑑
where GLint is the Coefficient of internal leakage
is the cylinder cross-sectional area
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Slide 21/58
Master Thesis Defense
Khaled H. Emam
Linear System Model
Hydraulic transfer function: Mechanical transfer function:
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Slide 22/58
Master Thesis Defense
Khaled H. Emam
Linear System Model
𝐾𝑀=𝐴𝑑 ,𝑇𝑀=
𝑚d 1/𝐾 𝐹𝐵
𝐺𝑀 (𝑠 )= ��
𝑃𝐿− 𝐹𝐴
=𝐾𝑀
1+𝑠 .𝑇𝑀𝐺𝐻 (𝑠 )=𝑃 𝐿
KQ y −𝐴 . ��=𝐾𝐻
1+𝑠 .𝑇𝐻
𝐾𝐻=1
KQp+G∮ ¿ ,𝑇𝐻=𝑉
2 .𝐸 . 1KQ p+G∮ ¿¿
¿
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Slide 23/58
Master Thesis Defense
Khaled H. Emam Slide 24/58
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System Model
0 0.2 0.4 0.6 0.8 1-4
-3
-2
-1
0
1
2
3
4 x 10-3
time (sec)
Hydraulic Mould Oscillator
Pist
on D
ispl
acem
ent (
m)
linear valve modeldetailed valve model
• The Hydraulic Mold Oscillator is used as a model to validate results.
• Comparison between detailed and linear models shows convergence between results
Master Thesis Defense
Khaled H. Emam
Linear System Model
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Slide 25/58
Forster, I. (1984). Electro-hydraulic Load Simulator. o+p Oil hydraulics and pneumatics, 8 (28).
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System ModelOperating side open loop transfer function
∴𝑮𝒙 (𝒔 )=𝐾 𝑣 .𝜔𝑜𝑣2 𝐾𝐻 .𝐾𝑀 . (𝐴𝐶 )𝑜𝑝 (𝐾𝑝 )𝑜𝑝 (𝐾𝑄 ) 𝑦
𝑠 (𝑠2+2𝑠 ζ 𝑠𝜔𝑜𝑣+𝜔𝑜𝑣2 ) (1+𝑠 𝑇𝐻+𝑠𝑇𝑀+𝑠2𝑇𝐻𝑇𝑀+𝐾 𝐻 𝐾𝑀 (𝐴𝐶 )𝑜𝑝
2 )The open loop characteristic equation is as follows:
411411 +6526.23+36.8171 +0.0922355 +0.00010812 +2402.82 =0
Slide 26/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System ModelOperating side - controller design
-300
-250
-200
-150
-100
-50
Mag
nitu
de (d
B)
101 102 103 104-450
-360
-270
-180
-90
Phas
e (d
eg)
Bode DiagramGm = 88.4 dB (at 108 rad/s) , Pm = 90 deg (at 0.00584 rad/s)
Frequency (rad/s)
Proportional gain limit is calculated using Routh-Hurwitz criterion, bode plot and root locus method.
Slide 27/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System ModelOperating side - controller design
-1200 -1000 -800 -600 -400 -200 0 200 400 600-1000
-500
0
500
1000Root Locus
Real Axis (seconds-1)
Imag
inar
y A
xis (
seco
nds-1
)
Slide 28/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System ModelOperating side - controller design
Proportional gain limit is calculated using Routh-Hurwitz criterion, bode plot and root locus
method.
This gain value shouldn’t exceed
PID tuning techniques were applied to optimize the gain value.
Slide 29/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System ModelLoading side open loop transfer function
𝐺𝐹 (𝑠)=𝑲 𝒑𝒍∗𝐾 𝑣 .𝜔𝑜𝑣2
𝑠2+2𝐷𝑣𝜔𝑜𝑣 𝑠+𝜔𝑜𝑣2 ∗𝐊𝐐𝐲∗( 𝐾 𝐻
1+𝑇𝐻 .𝑠 ∗𝐴𝑐𝑙)= 𝐾𝑣 .𝜔𝑜𝑣2 𝐴𝑐𝑙𝐾 𝐻𝐾 𝑝𝑙𝐾𝑄 𝑦
(1+𝑇𝐻 . 𝑠) (𝑠2+2𝑠𝐷𝑣𝜔𝑜𝑣+𝜔𝑜𝑣2 )
The characteristic equation of the open loop transfer function is as follows:
Slide 30/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System ModelLoading side - controller design
-300
-250
-200
-150
-100
-50
Mag
nitu
de (d
B)
101 102 103 104-450
-360
-270
-180
-90
Phas
e (d
eg)
Bode DiagramGm = 88.4 dB (at 108 rad/s) , Pm = 90 deg (at 0.00584 rad/s)
Frequency (rad/s)Slide 31/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
-5000 -4000 -3000 -2000 -1000 0 1000 2000-3000
-2000
-1000
0
1000
2000
3000Root Locus
Real Axis (seconds-1)
Imag
inar
y A
xis
(sec
onds-1
)
Linear System ModelLoading side - controller design
Slide 32/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design Data Acquisition Results Conclusion
Linear System ModelLoading side - controller design
The range of gain values for loading servos system is shown to be less than
PID tuning techniques were applied to optimize the gain value.
Slide 33/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Slide 34/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
ADCH1 Not connected DACH1 Servovalve#1 Command Signal
ADCH2 Not connected DACH2 Not connected
ADCH3 Not connected DACH3 To DS-1104#2
ADCH 4 Not connected DACH4 To DS-1104#2
ADCH5 Position Sensor #1 WLH100 DACH5 Not connected
ADCH6 Servovalve#1 Feedback DACH6 Not connected
ADCH7 Not connected DACH7 Not connected
ADCH8 Not connected DACH8 Not connected
Slide 35/58
Master Thesis Defense
Khaled H. Emam
ADCH1 From DS-1104#1 DACH1 Servovalve#3 Command
ADCH2 From DS-1104#1 DACH2 Not connected
ADCH3 Servovalve#3 Feedback Signal DACH3 Not connected
ADCH4 Not connected DACH4 Not connected
ADCH5 Pressure Transducer EDS300 DACH5 Not connected
ADCH6 Position Transducer#3 WLH100 DACH6 Not connected
ADCH7 Not connected DACH7 Not connected
ADCH8 Not connected DACH8 Not connected
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Slide 36/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 1• Amplitude=3.5mm• Freq. = 3Hz
Experiment 1:
0 0.5 1 1.5 2-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve Yactual
Servo Valve Yreference
Slide 37/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 1• Amplitude=3.5mm• Freq. = 3Hz
0 0.5 1 1.5 246
47
48
49
50
51
52
53
54
time (sec)
Pist
on D
ispl
acem
ent (
mm
)
Operating Cylinder Xactual
Operating Cylinder Xreference
Slide 38/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 25• Amplitude=3.5mm• Freq. = 3Hz
Experiment 2:
0 0.5 1 1.5 2-1
-0.5
0
0.5
1
1.5
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve Yactual
Servo Valve Yreference
Slide 39/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 25• Amplitude=3.5mm• Freq. = 3Hz
0 0.5 1 1.5 246
47
48
49
50
51
52
53
54
time (sec)
Pist
on D
ispl
acem
ent (
mm
)
Operating Cylinder Xactual
Operating Cylinder Xreference
Slide 40/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 25• Amplitude=3.5mm• Frequency = 5Hz
Experiment 3:
0 0.5 1 1.5 2-1.5
-1
-0.5
0
0.5
1
1.5
2
2.5
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve YactualServo Valve Yreference
Slide 41/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 25• Amplitude=3.5• Frequency = 5 rad/s
0 0.5 1 1.5 246
47
48
49
50
51
52
53
54
time (sec)
Pist
on D
ispl
acem
ent (
mm
)
Operating Cylinder Xactual
Operating Cylinder Xreference
Slide 42/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 25• Amplitude=5mm• Frequency = 5Hz
Experiment 4:
0 0.5 1 1.5 2-2
-1
0
1
2
3
4
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve Yactual
Servo Valve Yreference
Slide 43/58
Master Thesis Defense
Khaled H. Emam
Parameters:• = 25• Amplitude=5mm• Frequency = 5Hz
0 0.5 1 1.5 244
46
48
50
52
54
56
time (sec)
Pist
on D
ispl
acem
ent (
mm
)
Operating Cylinder XactualOperating Cylinder Xreference
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Slide 44/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 32• Amplitude= 3.5mm• Frequency = 5Hz
Experiment 5:
0 0.5 1 1.5 2-1.5
-1
-0.5
0
0.5
1
1.5
2
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve Yactual
Servo Valve Yreference
Slide 45/58
Master Thesis Defense
Khaled H. Emam
Parameters:• = 32• Amplitude= 3.5mm• Frequency = 5Hz
0 0.5 1 1.5 246
47
48
49
50
51
52
53
54
time (sec)
Pist
on D
ispl
acem
ent (
mm
)
Operating Cylinder Xactual
Operating Cylinder Xreference
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Slide 46/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 45• Amplitude= 5mm• Frequency = 5Hz
Experiment 6:
0 0.1 0.2 0.3 0.4 0.5-2
-1
0
1
2
3
4
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve Yactual
Servo Valve Yreference
Slide 47/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 45• Amplitude= 5mm• Frequency = 5Hz
0 0.1 0.2 0.3 0.4 0.544
46
48
50
52
54
56
time (sec)
Pist
on D
ispl
acem
ent (
mm
)
Operating Cylinder Xactual
Operating Cylinder Xreference
Slide 48/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 2.5• Force signal:
Amplitude= 45 kNFrequency = 0 Hz
0 0.005 0.01 0.015 0.0240
45
50
55
time (sec)
Forc
e (k
N)
Forceact
Forceref
Force control
Slide 49/58
Master Thesis Defense
Khaled H. Emam Slide 50/40
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Parameters:• = 2.5• Force signal:
Amplitude= 45 kNFrequency = 0 Hz
Force control
0 0.005 0.01 0.015 0.02-0.07
-0.06
-0.05
-0.04
-0.03
-0.02
-0.01
0
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve Yactual
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Study case
Parameters:• Zero input signal• No load condition
Slide 51/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Study case
0 0.2 0.4 0.6 0.8 1-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
time (sec)
Spoo
l Dis
plac
emen
t (m
m)
Servo Valve Yactual
Servo Valve Yreference
Parameters:• = 32• Amplitude= 3.5mm• Frequency = 5Hz
Slide 52/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
0 0.2 0.4 0.6 0.8 146
47
48
49
50
51
52
53
54
time (sec)
Pist
on D
ispl
acem
ent (
mm
)
Operating Cylinder Xactual
Operating Cylinder Xreference Parameters:
• = 32• Amplitude= 3.5mm• Frequency = 5Hz
Study case
Slide 53/58
Master Thesis Defense
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Conclusion
The proposed design of the hardware in the loop test rig was discussed throughout the thesis.
The mechanical, hydraulic, electrical and electronic interfaces and the control algorithm were
presented throughout the study.
The experimental measurements validate the implemented software model and theoretical
calculations of the system.
The device can also be used to test the time response for standard directional
hydraulic valves without the need to connect a controller.
Slide 54/58
Master Thesis Defense
Khaled H. Emam
Introduction Mechanical Design
Hydraulic Design
Controller Design
Data Acquisition Results Conclusion
Recommendation for future work
The test rig can be used to test the time response for standard directional hydraulic valves
without the need to connect a controller.
This study is considered the first step towards manufacturing a servo cylinder test rig in the
GUC.
Future work should be directed towards implementing the controller using modern control
approach or fuzzy logic control.
Slide 55/58
Master Thesis Defense
Khaled H. Emam
Thanks for listeningYour questions & feedback are highly appreciated
Khaled Hossam [email protected]
Acknowledgement
Slide 56/58
Master Thesis Defense
Khaled H. Emam
Proportional controller tuning:
0 0.1 0.2 0.3 0.4 0.50
0.5
1
1.5
time (sec)
Cyl
inde
r Stro
ke (m
m)
ISEIAEITSEITAEZiegler-Nichols
Slide 57/58
Master Thesis Defense
Khaled H. Emam
PID -controller tuning:
0 0.1 0.2 0.3 0.4 0.50
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
time (sec)
Cyl
inde
r stro
ke (m
m)
ISEIAEITSEITAEZiegler-Nichols
Slide 58/58