Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing

Magnetorheological fluid (MRF) actuator emerged in the last decade as a potential system to replace electro-hydraulic servo system in precision applications. A complete closed-loop control system is necessary to support the accuracy of the system. Modelling of the valve is a crucial task in devel...

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Main Author:	Abu Bakar, Muhamad Husaini
Format:	Thesis
Language:	English
Published:	2017
Subjects:	T Technology
Online Access:	http://eprints.usm.my/46011/1/Hybrid%20Cfd-Nnarx%20Modelling%20Of%20Single%20Mrf%20Valve%20For%20Visual%20Servoing.pdf
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spelling	my-usm-ep.460112021-11-17T03:42:15Z Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing 2017-05-01 Abu Bakar, Muhamad Husaini T Technology TA349-359 Mechanics of engineering. Applied mechanics Magnetorheological fluid (MRF) actuator emerged in the last decade as a potential system to replace electro-hydraulic servo system in precision applications. A complete closed-loop control system is necessary to support the accuracy of the system. Modelling of the valve is a crucial task in developing an optimal control system for the valve, but the knowledge of fluid behaviour inside the valve channel remains scarce. This research aims to develop a plant model of MRF actuator using the system identification approach, where the Computational Fluid Dynamics (CFD) result is used as an input. The plant model is then used to design a closed-loop control system for the MRF actuator. To achieve this objective, a 3D CFD model was developed, and a steady state analysis was run to study fluid behaviours in the channel. Transient analysis with dynamic input was further performed to study the correlation between the current input and the volume flow rate as an output. Neural network nonlinear autoregressive network with exogenous inputs (NNARX) used data from the CFD to identify the plant model of an MRF valve. The result acquired from the CFD simulation and plant model gave good agreement with the experimental result with an error of less than 3%. The velocity in the MRF valve reduced 85% when the current varied from 0 to 0.8A. The hybrid CFD-NNARX model shows a small deviation from the experimental result with an average error of 4%. As a conclusion, the hybrid CFDNNARX has been proven useful in modelling the MRF actuator. The main contribution of this work is the plant model of an MRF actuator, which can be utilised as an input in controller design process of MRF actuator. 2017-05 Thesis http://eprints.usm.my/46011/ http://eprints.usm.my/46011/1/Hybrid%20Cfd-Nnarx%20Modelling%20Of%20Single%20Mrf%20Valve%20For%20Visual%20Servoing.pdf application/pdf en public phd doctoral Universiti Sains Malaysia Pusat Pengajian Kejuruteraan Mekanik
institution	Universiti Sains Malaysia
collection	USM Institutional Repository
language	English
topic	T Technology T Technology
spellingShingle	T Technology T Technology Abu Bakar, Muhamad Husaini Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing
description	Magnetorheological fluid (MRF) actuator emerged in the last decade as a potential system to replace electro-hydraulic servo system in precision applications. A complete closed-loop control system is necessary to support the accuracy of the system. Modelling of the valve is a crucial task in developing an optimal control system for the valve, but the knowledge of fluid behaviour inside the valve channel remains scarce. This research aims to develop a plant model of MRF actuator using the system identification approach, where the Computational Fluid Dynamics (CFD) result is used as an input. The plant model is then used to design a closed-loop control system for the MRF actuator. To achieve this objective, a 3D CFD model was developed, and a steady state analysis was run to study fluid behaviours in the channel. Transient analysis with dynamic input was further performed to study the correlation between the current input and the volume flow rate as an output. Neural network nonlinear autoregressive network with exogenous inputs (NNARX) used data from the CFD to identify the plant model of an MRF valve. The result acquired from the CFD simulation and plant model gave good agreement with the experimental result with an error of less than 3%. The velocity in the MRF valve reduced 85% when the current varied from 0 to 0.8A. The hybrid CFD-NNARX model shows a small deviation from the experimental result with an average error of 4%. As a conclusion, the hybrid CFDNNARX has been proven useful in modelling the MRF actuator. The main contribution of this work is the plant model of an MRF actuator, which can be utilised as an input in controller design process of MRF actuator.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Abu Bakar, Muhamad Husaini
author_facet	Abu Bakar, Muhamad Husaini
author_sort	Abu Bakar, Muhamad Husaini
title	Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing
title_short	Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing
title_full	Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing
title_fullStr	Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing
title_full_unstemmed	Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing
title_sort	hybrid cfd-nnarx modelling of single mrf valve for visual servoing
granting_institution	Universiti Sains Malaysia
granting_department	Pusat Pengajian Kejuruteraan Mekanik
publishDate	2017
url	http://eprints.usm.my/46011/1/Hybrid%20Cfd-Nnarx%20Modelling%20Of%20Single%20Mrf%20Valve%20For%20Visual%20Servoing.pdf
_version_	1747821593827999744

Hybrid Cfd-Nnarx Modelling Of Single Mrf Valve For Visual Servoing

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