System identification model and predictive functional control of an electro-hydraulic actuator system

The nonlinearities, uncertainties, and time varying characteristics of electrohydraulic actuator (EHA) have made the research challenging for precise and accurate control. In order to design a good and precise controller for the system, a model which can accurately represent the real system has to b...

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Main Author: Mat Lazim, Noor Hanis Izzuddin
Format: Thesis
Language:English
Published: 2015
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Online Access:http://eprints.utm.my/id/eprint/54591/1/NoorHanisIzzuddinMFKE2015.pdf
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spelling my-utm-ep.545912020-10-20T02:20:55Z System identification model and predictive functional control of an electro-hydraulic actuator system 2015-06 Mat Lazim, Noor Hanis Izzuddin TK Electrical engineering. Electronics Nuclear engineering The nonlinearities, uncertainties, and time varying characteristics of electrohydraulic actuator (EHA) have made the research challenging for precise and accurate control. In order to design a good and precise controller for the system, a model which can accurately represent the real system has to be obtained first. In this project, system identification (SI) approach was used to obtain the transfer function that can represent the EHA system. Parametric system identification method was utilized in this research as it emphasizes more on mathematical than graphical approach to obtain the model of the system. Multi-sine and continuous step signals were used as the input for the identification process. The models obtained were validated using statistical and graphical approach in simulation and experimental works to decide which model can represent the EHA system more precisely. Predictive functional control (PFC) was proposed and implemented for position control of the EHA. Besides, an optimal proportional-integral-derivative (PID) controller tuned by particle swarm optimization (PSO) was implemented in simulation and experimental work as comparison with the proposed controller. A comprehensive performance evaluation for the position control of the EHA is presented. As expected from the PFC main objective which is to realize closed-loop behaviour close to first order system with time delay, the experimental work conducted shows the controller capability to reduce the overshoot value by 87% as compared to the PID-PSO. The findings also demonstrated that the steady-state error was reduced by 37% and smaller integral absolute error (IAE). 2015-06 Thesis http://eprints.utm.my/id/eprint/54591/ http://eprints.utm.my/id/eprint/54591/1/NoorHanisIzzuddinMFKE2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:86029 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution Universiti Teknologi Malaysia
collection UTM Institutional Repository
language English
topic TK Electrical engineering
Electronics Nuclear engineering
spellingShingle TK Electrical engineering
Electronics Nuclear engineering
Mat Lazim, Noor Hanis Izzuddin
System identification model and predictive functional control of an electro-hydraulic actuator system
description The nonlinearities, uncertainties, and time varying characteristics of electrohydraulic actuator (EHA) have made the research challenging for precise and accurate control. In order to design a good and precise controller for the system, a model which can accurately represent the real system has to be obtained first. In this project, system identification (SI) approach was used to obtain the transfer function that can represent the EHA system. Parametric system identification method was utilized in this research as it emphasizes more on mathematical than graphical approach to obtain the model of the system. Multi-sine and continuous step signals were used as the input for the identification process. The models obtained were validated using statistical and graphical approach in simulation and experimental works to decide which model can represent the EHA system more precisely. Predictive functional control (PFC) was proposed and implemented for position control of the EHA. Besides, an optimal proportional-integral-derivative (PID) controller tuned by particle swarm optimization (PSO) was implemented in simulation and experimental work as comparison with the proposed controller. A comprehensive performance evaluation for the position control of the EHA is presented. As expected from the PFC main objective which is to realize closed-loop behaviour close to first order system with time delay, the experimental work conducted shows the controller capability to reduce the overshoot value by 87% as compared to the PID-PSO. The findings also demonstrated that the steady-state error was reduced by 37% and smaller integral absolute error (IAE).
format Thesis
qualification_level Master's degree
author Mat Lazim, Noor Hanis Izzuddin
author_facet Mat Lazim, Noor Hanis Izzuddin
author_sort Mat Lazim, Noor Hanis Izzuddin
title System identification model and predictive functional control of an electro-hydraulic actuator system
title_short System identification model and predictive functional control of an electro-hydraulic actuator system
title_full System identification model and predictive functional control of an electro-hydraulic actuator system
title_fullStr System identification model and predictive functional control of an electro-hydraulic actuator system
title_full_unstemmed System identification model and predictive functional control of an electro-hydraulic actuator system
title_sort system identification model and predictive functional control of an electro-hydraulic actuator system
granting_institution Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department Faculty of Electrical Engineering
publishDate 2015
url http://eprints.utm.my/id/eprint/54591/1/NoorHanisIzzuddinMFKE2015.pdf
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