Análise e projeto de sistemas de controle para atuadores hidráulicos servo acionados : um estudo de caso

AUTOR(ES)
DATA DE PUBLICAÇÃO

2006

RESUMO

This work approaches the modeling problem of servo hydraulic position systems and analyzes the question of the project and application in this context of not conventional control systems. In such a way, an appropriate bench of tests is described with details, as much in functional terms as to the technology of its elements. This bench, is in PUCPR and here called SPosHid, is the base for the results presented in this work. The modeling of the plant is carried through under two dierent approaches, namely: phenomenological modeling (white box) and black box modeling. In the case of the phe- nomenological modeling, all the components of the equipment are represented through dierential equations that describe its dynamic behavior. The subsystems union de- scribes the complete model, which, for its nature, is highly not linear. Although its good reproduction capacity of the dynamic of the system, a diculty associated to this strategy is the attainment of the model parameters. The black box modeling is gotten through the selection of a generic structure, based in experimental data of input and output, to the representation process and the use of a method of optimization for attainment of the model parameters. In the process under analysis, the experimental data must necessarily be gotten in closed loop, giving origin to a methodology known as identication in closed loop. In this work based on a linear model structure for the process representation, the steps to the attainment of a model for the SPosHid plant are presented. In the sequence, the control problem is analyzed. This work, proposes the use of the GPC (Generalized Predictive Controller) control algorithm, from the preditivos controllers rank based in model (MBPC) - Model Based Predictive Controller, as substitution of the usually found algorithms in the commercial context of hydraulical positioning systems. A description of GPC algorithm, which is based on linear models, and its representation in format RTS is presented. Results of the application in real time of GPC controller in the SPosHid plant, with linear model, are presented. The applied tests are based on the performance of the controller for reference signals in step, slope and frequency. The tests are carried through with or without external load.

ASSUNTO(S)

hidráulica hidrodinâmica engenharia de producao fluídos

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