Control of a hydraulically actuated mechanism using a proportional valve and a linearizing feedforward controller
| dc.contributor.committeeMember | Nikiforuk, Peter N. | en_US |
| dc.contributor.committeeMember | Fotouhi, Reza | en_US |
| dc.contributor.committeeMember | Dolovich, Allan T. | en_US |
| dc.contributor.committeeMember | Crowe, Trever G. | en_US |
| dc.contributor.committeeMember | Burton, Richard T. | en_US |
| dc.contributor.committeeMember | Schoenau, Greg J. | en_US |
| dc.contributor.committeeMember | Silva, G. | en_US |
| dc.creator | Dobchuk, Jeffery William | en_US |
| dc.date.accessioned | 2004-08-24T09:54:57Z | en_US |
| dc.date.accessioned | 2013-01-04T04:54:11Z | |
| dc.date.available | 2004-08-25T08:00:00Z | en_US |
| dc.date.available | 2013-01-04T04:54:11Z | |
| dc.date.created | 2004-08 | en_US |
| dc.date.issued | 2004-08-19 | en_US |
| dc.date.submitted | August 2004 | en_US |
| dc.description.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. | en_US |
| dc.identifier.uri | http://hdl.handle.net/10388/etd-08242004-095457 | en_US |
| dc.language.iso | en_US | en_US |
| dc.subject | predictive control | en_US |
| dc.subject | off-highway equipment | en_US |
| dc.subject | hydraulics | en_US |
| dc.title | Control of a hydraulically actuated mechanism using a proportional valve and a linearizing feedforward controller | en_US |
| dc.type.genre | Thesis | en_US |
| dc.type.material | text | en_US |
| thesis.degree.department | Mechanical Engineering | en_US |
| thesis.degree.discipline | Mechanical Engineering | en_US |
| thesis.degree.grantor | University of Saskatchewan | en_US |
| thesis.degree.level | Doctoral | en_US |
| thesis.degree.name | Doctor of Philosophy (Ph.D.) | en_US |