System Identification and Controller Design for Hydraulic Actuator
Abstract
System Identification of Hydraulic Actuators is critical for analyzing their performance and designing a suitable Control System. Hydraulic actuators are extensively used in many applications, ranging from flight simulators, robotics, orthopaedic surgery, material testing, construction and many other industrial types of machinery. In the aviation industry, hydraulic actuators are currently being used in full flight simulators used for controlling the position and orientation of the motion platform. Every actuator has its characteristics, therefore, the choice of excitation signals for System Identification must take into account the dynamics of the actuator under consideration. This work proposes the selection of excitation signals based on the bandwidth of the hydraulic actuator. Validation of the proposed selection is done by performing system identification, obtaining a mathematical model and comparing it with a nonlinear hydraulic actuator model designed in Simscape. After validation, a nonlinear PID control has been tuned on the identified model and tested on the nonlinear model. Extensive simulations have been run and results show accurate mathematical modelling, as well as precise control, has been achieved through the proposed methodology.
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