University of SaskatchewanHARVEST
  • Login
  • Submit Your Work
  • About
    • About HARVEST
    • Guidelines
    • Browse
      • All of HARVEST
      • Communities & Collections
      • By Issue Date
      • Authors
      • Titles
      • Subjects
      • This Collection
      • By Issue Date
      • Authors
      • Titles
      • Subjects
    • My Account
      • Login
      JavaScript is disabled for your browser. Some features of this site may not work without it.
      View Item 
      • HARVEST
      • Electronic Theses and Dissertations
      • Graduate Theses and Dissertations
      • View Item
      • HARVEST
      • Electronic Theses and Dissertations
      • Graduate Theses and Dissertations
      • View Item

      Control of a hydraulically actuated mechanism using a proportional valve and a linearizing feedforward controller

      Thumbnail
      View/Open
      DobchukThesis.pdf (3.213Mb)
      Date
      2004-08-19
      Author
      Dobchuk, Jeffery William
      Type
      Thesis
      Degree Level
      Doctoral
      Metadata
      Show full item record
      Abstract
      A common problem encountered in mobile hydraulics is the desire to automate motion control functions in a restricted-cost and restricted-sensor environment. In this thesis a solution to this problem is presented. A velocity control scheme based on a novel single component pressure compensated ow controller was developed and evaluated. The development of the controller involved solving several distinct technical challenges. First, a model reference control scheme was developed to provide control of the valve spool displacement for a particular electrohydraulic proportional valve. The control scheme had the effect of desensitizing the transient behaviour of the valve dynamics to changes in operating condition. Next, the pressure/flow relationship of the same valve was examined. A general approach for the mathematical characterization of this relationship was developed. This method was based on a modification of the so-called turbulent orifice equation. The general approach included a self-tuning algorithm. Next, the modified turbulent orifice equation was applied in conjunction with the model reference valve controller to create a single component pressure compensated flow control device. This required an inverse solution to the modified orifice equation. Finally, the kinematics of a specific single link hydraulically actuated mechanism were solved. Integration of the kinematic solution with the flow control device allowed for predictive velocity control of the single link mechanism.
      Degree
      Doctor of Philosophy (Ph.D.)
      Department
      Mechanical Engineering
      Program
      Mechanical Engineering
      Committee
      Nikiforuk, Peter N.; Fotouhi, Reza; Dolovich, Allan T.; Crowe, Trever G.; Burton, Richard T.; Schoenau, Greg J.; Silva, G.
      Copyright Date
      August 2004
      URI
      http://hdl.handle.net/10388/etd-08242004-095457
      Subject
      predictive control
      off-highway equipment
      hydraulics
      Collections
      • Graduate Theses and Dissertations
      University of Saskatchewan

      University Library

      © University of Saskatchewan
      Contact Us | Disclaimer | Privacy