Model Based Design of the Hydraulic Actuator

The paper is focused on the Model Based Design of the closed loop control of the linear hydraulic drive. Model-Based-Design is progressive methodology for design of control systems, embedded control systems and for testing of the implemented software. The hydraulic servo drives represent very important parts of the modern machines. The demands on their accuracy and dynamics require the use of the modern controller design approaches based on the computer simulation and comprehensive tools of their implementation. The novel created MATLAB-application named Hydraulic System Control–Model Based Design is introduced. The application concentrates the knowledge of the possible solutions of the closed loop control systems suitable for hydraulic drives and supports the use and tuning of the controllers different structures. The parameterization of the drive can be done using the known data from the data sheets of the servo valve and cylinder or can be based on the experimentally obtained characteristics which can be evaluated using the identification methods. The application is a user-friendly environment and creates also comfortable access to the MATLAB-toolboxes and their use. It simplifies the process of the controller design based on the implemented non-linear, linear respectively linearized mathematical models of the hydraulic drive, because the tools for the linearization of the non-linear model are available. The parameters of the controller can be verified by the simulation of the linear or non-linear model. The created MATLAB-application represents the Model-in-the-Loop (MIL) simulation of the control of the hydraulic drive and supports very important part of the development cycle called V-Model. Practical use of the application is demonstrated on the design of the closed loop position control of the hydraulic drive installed on the test rig. The simulated and measured data are presented as well as the results of the Hardware-in-the-Loop simulation of the control of the laboratory hydraulic drive.