Modelling and Control of Hydraulic Actuators, 5 cr

Core content

• Principles 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 valves
• Modelling of 1-DOF hydraulic servo systems: Non-linear model, linearization, state-space and transfer function models
• Characteristics and tuning of simple feedback controllers
• Selection of components of hydraulic servo systems

Complementary knowledge

• Orifices in series/parallel.
• Spool valve leakage modelling.
• Collision model of the cylinder ends.
• Tracking control
• Pressure feedback

Specialist knowledge

• Saturation of the orifice by the cavitation.