Modelling and Control of Hydraulic Actuators (5cr)
Course unit code: C-10122-AUT--555
General information
- Credits
- 5 cr
- Institution
- University of Tampere
Objectives
Modelling and simulation of hydraulic system including hydraulic valves, hydraulic cylinder and 1-DOF inertia using Matlab/Simulink.To obtain basic knowledge about hydraulic servo valves and applications of hydraulic servo systemsUnderstanding non-linear model of 1-DOF hydraulic servo system and its linearizationDetermination of basic indicators of 1-DOF hydraulic servo system (gain, stiffness, natural frequency, damping etc.)Tuning of simple feedback controllersSelection of components and controller for hydraulic servo systems
Content
Core contentPrinciples of modelling with Matlab/Simulink.Modelling and simulation as a tool.Basic modelling techniques of hydraulic systems.Properties of the hydraulic fluids. Modelling a state equation of the fluid. Calculation of the effective bulk modulus.Modelling of an orifice.Four way valve (non-linear) modelling (dynamics, flow paths, control).Hydraulic cylinder modelling together with a simple mechanical model.Dynamic friction model.Interaction between of models of different sub-components.Complete hydraulic system modelling.Electrohydraulic servo systems and servo valvesModelling of 1-DOF hydraulic servo systems: Non-linear model, linearization, state-space and transfer function modelsCharacteristics and tuning of simple feedback controllersSelection of components of hydraulic servo systemsComplementary knowledgeOrifices in series/parallel.Spool valve leakage modelling.Collision model of the cylinder ends.Tracking control Pressure feedbackSpecialist knowledgeSaturation of the orifice by the cavitation.
Prerequisites
Basic knowledge of hydraulics.