Hydraulic Servo-systems: Modelling, Identification and Control

379 Pages·2003·11.859 MB·English

by  Mohieddine Jelali Dr-Ing, Andreas Kroll Dr-Ing (auth.)

Advances in Industrial Control
Springer-Verlag London Ltd.
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Mohieddine Je lali and Andreas Kroll
Hydraulic
Servo-systems
Modelling, Identification and Control
With 182 Figures
Springer
Mohieddine Jelali, Dr-Ing
Department ofIndustrial Plant Technology,
Betriebsforschungsintitut - VDEh-Institut fur angewandte Forschung GmbH,
Sohnstra6e 65, D-40237 Dusseldorf, Germany
Andreas Kroll, Dr-Ing
Applied Control and Optimization, ABB Control Research, Wallstadter Stra6e 59,
D-68526 Ladenburg, Germany
British Library Cataloguing in Publication Data
Jelali, Mohieddine
Hydraulic servo-systems : modelling, identification and
control. -(advances in industrial control)
l.Hydraulic servomechanisms
1. Title ll.Kroll, Andreas
629.8'042
ISBN 978-1-4471-1123-8
Library of Congress Cataloging-in-Publication Data
A catalog record for this book is available from the Library of Congress.
Apart from any fair dealing for the purposes of research or private study, or criticism or review, as
permitted under the Copyright, Designs and Patents Act 1988, this publication may on1y be reproduced,
stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers,
or in the case of reprographic reproduction in accordance with the terms of licences issued by the
Copyright Licensing Agency. Enquiries conceming reproduction outside those terms should be sent to the
publishers.
ISBN 978-1-4471-1123-8 ISBN 978-1-4471-0099-7 (eBook)
DOI 10.1007/978-1-4471-0099-7
springeronline.com
© Springer-Verlag London 2003
Originally published by Springer-Verlag London Berlin Heidelberg in 2003
Softcover reprint of the hardcover Ist edition 2003
2nd printing 2004
The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a
specific statement, that such names are exempt from the relevant laws and regulations and therefore free
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Typesetting: Electronic text files prepared by authors
69/3830-54321 Printed on acid-free paper SPIN 10990360
Advances in Industrial Control
Series Editors
Professor Michael J. Grimble, Professor ofIndustrial Systems and Director
Professor Michael A. Johnson, Professor of Control Systems and Deputy Director
Industrial Control Centre
Department of Electronic and Electrical Engineering
University of Strathclyde
Graham Hills Building
50 George Street
Glasgow G1 1Q E
United Kingdom
Series Advisory Board
Professor E.F. Camacho
Escuela Superior de Ingenieros
Universidad de Sevilla
Camino de los Descobrimientos sIn
41092 Sevilla
Spain
Professor S. Engell
Lehrstuhl filr Anlagensteuerungstechnik
Fachbereich Chemietechnik
Universitlit Dortmund
44221 Dortmund
Germany
Professor G. Goodwin
Department of Electrical and Computer Engineering
The University of Newcastle
Callaghan
NSW2308
Australia
Professor T.J. Harris
Department of Chemical Engineering
Queen's University
Kingston, Ontario
K7L3N6
Canada
Professor T.H. Lee
Department of Electrical Engineering
National University of Singapore
4 Engineering Drive 3
Singapore 117576
Professor Emeritus O.P. Malik
Department of Electrical and Computer Engineering
University of Calgary
2500, University Drive, NW
Calgary
Alberta
T2N 1N4
Canada
Professor K.-F. Man
Electronic Engineering Department
City University of Hong Kong
Tat Chee Avenue
Kowloon
Hong Kong
Professor G. Olsson
Department ofIndustrial Electrical Engineering and Automation
Lund Institute of Technology
Box 118
S-221 00 Lund
Sweden
Professor A. Ray
Pennsylvania State University
Department of Mechanical Engineering
0329 Reber Building
University Park
PA 16802
USA
Professor D.E. Seborg
Chemical Engineering
3335 Engineering II
University of California Santa Barbara
Santa Barbara
CA 93106
USA
Doctor I. Yamamoto
Technical Headquarters
Nagasaki Research & Development Center
Mitsubishi Heavy Industries Ltd
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Nagasaki 851-0392
Japan
To Doris, Yasmin and Dunja
M.J.
To Iris
A.K.
SERIES EDITORS' FOREWORD
The series Advances in Industrial Control aims to report and encourage technology
transfer in control engineering. The rapid development of control technology has an
impact on all areas of the control discipline. New theory, new controllers, actuators,
sensors, new industrial processes, computer methods, new applications, new
philosophies ... , new challenges. Much of this development work resides in industrial
reports, feasibility study papers and the reports of advanced collaborative projects.
The series offers an opportunity for researchers to present an extended exposition of
such new work in all aspects of industrial control for wider and rapid dissemination.
Control engineering is a discipline of many different areas. Many standard
control textbooks extract the core control engineering skills and sometimes leave
behind real-world applications. In the Advances in Industrial Control monographs
we often see control engineering from the engineer's perspective. This monograph
by Mohieddine Jelali and Andreas Kroll is a perfect example of an industrial view of
control engineering; this time for the field of hydraulic servo-systems.
Hydraulic servo-systems are essential actuators in many industrial sectors; the
steel industry where hydraulic servo-systems actuate hot and cold rolling mills used
to roll strip is a highly appropriate example. Jelali and Kroll manage in this
monograph to convey the real intellectual and engineering challenge of designing
controllers for such systems. The sheer art of whittling down extensive process
information and data to provide a model which is just right for control studies is well
described by the authors. Then there is the control engineering design problem:
hydraulic servo-systems use compressible fluids leading to complex flow patterns
and suffer from friction and stiction effects. Computer technology provides an
opportunity to do better; to provide more advanced and better controller design. In
this monograph, this is rounded out by the experience of the authors. What we use is
what works well. We are pleased to welcome this authoritative contribution to the
Advances in Industrial Control monograph series and we hope both industrial
engineers and control engineering academics will find much of interest in the
volume.
M.J. Grimble and M.A. Johnson
Industrial Control Centre
Glasgow, Scotland, U.K.
PREFACE
The main purpose of this book is to present the theoretical background, practical
techniques and experimental results of the modelling, identification and control of
hydraulic servo-systems. Hydraulic servo-systems are used in a wide variety of
industrial fields. They provide many advantages over electrical motors, including
high durability and the ability to produce large forces at high speeds. Unfortunately,
the dynamic characteristics of these systems are highly non-linear and relatively
difficult to control. The non-linearities arise from the compressibility of the
hydraulic fluid, the complex flow properties of the servo-valve and the friction in the
hydraulic cylinder. Many current industrial controllers achieve moderate bandwidth
with fixed gain controllers by oversizing the cylinder diameter. This requires larger
and more costly components and higher fluid flow rates in order to move a load at a
given speed. The overall system is therefore much more expensive.
In writing this book an attempt is made to outline classical and advanced
algorithms and the results of automatic control of hydraulic drives with the intention
of providing the designer/engineer with all the approaches available. He/she will
then be in the best possible position to develop a satisfactory design for the
application at hand with minimal effort. It is also demonstrated that advanced
strategies can provide significant improvements over conventional methods, of
course at the expense of greater design and computational efforts. Nevertheless, the
continual progress of computer technologies has greatly reduced the effort required
to implement such advanced control strategies. The derivation and identification of
suitable models is an important prerequisite for the design of advanced controllers
and is thus treated in detail.
In order to make the book as self-contained as possible, yet readable for
engineers, the necessary theoretical background of the methods presented is
described - without rigorous mathematical theorems or proofs. Instead, the reader is
referred to many well-written standard papers and books for proofs and detailed
treatment of the theory. The emphasis is on procedures that in the experience of the
authors proved to work well in practical implementations. Guidelines for the model
derivation, controller commissioning and tuning are also provided.
The book is intended as a graduate text, as well as a reference and a
practitioner's handbook to scientists and engineers involved in the analysis and
design of hydraulic control systems. Inexhaustible sources of important foundations
for hydraulic control systems are the excellent textbooks of Merritt (1967), Viersma
(1980), Anderson (1988), and Walters (1991). However, all these books mainly
cover the design of hydraulic systems in the sense of specifying the proper size of
hydraulic elements, and are not direct.ed toward the derivation, simulation and
practical implementation of control laws (combined with the identification step) for
xii Preface
hydraulic servo-systems, not to mention the advanced control techniques developed
in the last decade.
It is essential to have access to suitable software tools in order to simulate the
models, to solve the problems related to the identification and control strategies
presented in this book, and to gain experience of how the concepts actually work.
This assumes that the reader has access to MA TLAB/Simulink (or other similar
packages), together with some optimisation, identification and control toolboxes. At
the end of each chapter, implementation hints and links to available software
packages (either commercially from TheMathworks or from the public domain) are
given to allow the reader to simulate any of the concepts described in the book as
fast as possible.
It is only fair to acknowledge the individual contributions of the authors. All
fuzzy logic related sections of the book (Sections 5.4.2, 5.8, 6.7, 7.1.3 and 7.1.4)
have been written by Andreas Kroll. He also contributed to the identification basics
in Sections 5.1 and 5.2. The material for vibration damping control (Sections 6.9,
7.4 and 7.5) and for experimental results of modelling and control of differential
cylinders (Sections 4.4.2, 7.2 and 7.3) has been provided by Werner Bernzen and
Dirk Nissing, who were originally planned as co-authors of this book. This material
has been edited and reworked by the principle author, who also has written the
remaining sections of the book.
As "nobody is perfect", errors may remain in the book. The authors would be
grateful for reports of errors to be sent to one of the following email addresses:
[email protected] or [email protected].
September 2002 Mohieddine Jelali
Andreas Kroll