طراحي و شبيه سازي كنترل سرعت تركيبي فازي - LQR بر روي سيستم سروالكتروهيدروليك

چكيده انگليسي :

Optimal and fuzzy controllers for velocity control of EHSS design and simulation Fereshteh Poloei F Poloei@ec iut ac ir 2010 10 26 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language FarsiSupervisor Dr Maryam Zekri mzekri@cc iut ac irAdvisor Dr Mahdi Aliyari M aliyari@eetd kntu ac irAbstract Two degrees of freedom 2DOF control strategy is in the interest of control scientists since it providesmore flexibility in controller structure and design to satisfy the objectives of control problems like stability disturbance rejection and robustness In the other hand the concept of two degrees of freedom controllers ismainly used in many control schemes In these methods one controller is responsible for providing stabilityduring the control task and the other one provides perfect tracking for the desired states First the classicalcontroller is designed such that the stability is guaranteed and the control purposes are satisfied then anintelligent controller which is working with the classical controller takes the control task completely Applying a combination of Linear Quadratic Regulator LQR and intelligent controllers can be a good idea In order to perform this idea and investigate it s performance a practical velocity model of Electro HydraulicServo System EHSS is used Electro Hydraulic Servo Systems EHSS are encountered in a wide range ofmodern industrial applications because of their ability to handle large inertia and torque loads and at the sametime achieve fast responses and a high degree of both accuracy and performance Typical applicationsinclude active suspension systems control of industrial robots and processing of plastic They are alsoubiquitous in commercial aircrafts satellites launch vehicles flight simulators turbine control andnumerous military applications This research investigates the control of a velocity EHSS whosemathematical model accounts for flow nonlinearities and internal friction In order to improve the control of avelocity EHSS a hybrid control based on fuzzy neural network and LQR controllers fuzzy LQR are used Indeed the characteristics of the fuzzy neural network and LQR control are applied To control the velocityof EHSS two LQR controllers are designed One of these LQR controllers has a shorter settling time fastLQR and the other one has a longer settling time slow LQR Replacing each of these LQR controllers in theproposed structure of hybrid controller has a different response In addition a hybrid control based on fuzzyneural network and PD controllers fuzzy PD is used The structure of designed controllers which are verysimple can be successfully used to stabilize with significant performances for any chosen operating point ofthe system and they have the good tracking ability and robustness against the uncertainties parameters of thesystem All derived results are validated by computer simulation of a nonlinear mathematical model of thesystem Considering the results fast fuzzy LQR has a shorter settling time and slow fuzzy LQR has a longersettling time with a good robustness against the uncertainties parameters of the system Key wordsHybrid control fuzzy LQR electro hydraulic servo system fuzzy PD

پلوئي، فرشته

طراحي و شبيه سازي كنترل سرعت تركيبي فازي - LQR بر روي سيستم سروالكتروهيدروليك

كنترل كننده تركيبي , كنترل سرعت سيستم سرو الكتروهيدروليك , آموزش خطاي پسخور