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Modeling and Simulation For The Electro-Hydraulic Servo System Based On Simulink
Modeling and Simulation For The Electro-Hydraulic Servo System Based On Simulink
I. INTRODUCTION
Electro-hydraulic servo system refers to the control system
which combined two control modes of electrical and hydraulic.
Detecting, transmitting and processing the signal by use of
electric and electronic components, driving the load with
hydraulic transmission in the electro-hydraulic servo control
system. So it can make full use of electrical system for its
convenience and aptitude, make full use of hydraulic system
for its rapid response speed, big load stiffness and accurate Figure 1. The diagram of servo valve controlled asymmetrical
cylinder position control system
positioning characteristics to make the whole system more
adaptable. PID control is the abbreviation of proportion,
integral and differential control, its value depends on its widely Linearized flow equation of the zero opening and four-way
applicable for most of the control system, especially when the slide valve is
mathematical model of the controlled object is known, PID
control could be particularly useful. Simulink is a graphical
QL = K q X v − K c PL (1)
environment for dynamic system modeling, simulation and
analysis interactively [1]. Using Simulink environment, can The load flow continuity equation of the cylinder is
build complex system simulation model, using the mask Vt
function to simplify the model, using M files to initial the QL = Ctc PL + Ap sX p +sPL (2)
module variables, which provides great convenience for PID 4βe
parameters setting and change the variable value of the various The force balance equation effected on piston is
modules [2-3]. This paper establish the mathematical and
simulation model for the valve controlled asymmetrical Fg = PL A p = mt s 2 X p + ( B p +b) X p (3)
hydraulic cylinder position servo system, and optimize system Integrated (1), (2) and (3) deduce to the transfer function,
dynamic performance by setting PID parameters. which is output displacement of the piston rod to input
displacement of the valve
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V. MASK MODULE
Mask module is a powerful function in Simulink, it allows
users to define dialog and ICONS for subsystem. Using mask
module has the following functions.
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[5] Mohammad Nuruzzaman, Modeling and Simulation in SIMULINK for
VII. CONCLUSIONS Engineers and Scientists, AuthorHouse,2005.
[6] Carlos Canudas de Wit and Pablo Lischinsky, “Adaptive friction
This paper establish the mathematic model of the electro- compensation with partially known dynamic friction model”, Journal of
hydraulic position servo system after analysis base on the Adaptive Control and Signal Processing, Special Issue on Adaptive
control theory, and create simulation model of this system Systems with Nonsmooth Nonlinearities, 1997, pp.65–80.
using Simulink base on actual model parameters to run system [7] Henrik Olsson and Karl Johan Astrom, “Observer-based friction
simulation, adopt M file to transfer value to the variables of compensation”, Proceedings of the 35th IEEE Conference on Decision
each module, and apply module package to simplify system and Control, 1996,pp. 4345–4350.
simulation process. Through adjusting the PID parameters, [8] Shihong Xie, Example Tutorial of MATLAB R2008 for Control System
Dynamic Simulation , Chemical Industry Press,2009 (In Chinese).
finally obtained the ideal dynamic performance of the system.
This paper proposed a method that provides a reference for [9] A. Pervozvanski and C. Canudas de Wit. Vibrational smoothing in
systems with dynamic friction. Technical report, Laboratoire
other control system analysis and design. d’Automatique deGrenoble,1997.
[10] Y.Tan ,I. Kanellakopoulos, “Adaptive nonlinear friction compensation
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