Robust Nonlinear Control Design with Proportional-Integral-Observer Technique

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In this thesis, the motivation is explained in the introduction part based on a review of the development of observer technique especially the Proportional-Integral-Observer (PI-Observer) technique and an analysis of robust control for nonlinear systems. After that, the goals of the work are set as: improvement of the high gain PI-Observer design in the way that the high observer gains of PI-Observer can be automatically chosen and fit the current situation; and the application of PI-Observer in robust nonlinear control for nonlinear systems with unknown effects. To the first point, the high-gain PI-Observer design is systematically discussed and the online adjustment of the PI-Observer gains proposed as an advanced PI-Observer (API-Observer) is detailed. At the same time, the implementation of the addressed adjustment algorithm is included showing the adaption of the PI-Observer gains to the current situation of system dynamics and disturbances on a practical system with simulation results and real measurements respectively. To the other aspect, a high gain PI-Observer-based nonlinear control method is proposed as a combination of the PI-Observer and the classical exact feedback linearization method (EFL-PIO) and directly after it the applicability on mechanical systems is surveyed. Numerical examples of mechanical systems are given to illustrate the application of the EFL-PIO approach. At last, the implementation of the proposed PI-Observer-based nonlinear control method is illustrated in detail on a hydraulic cylinder system for its position control. Besides that, the position control for the cylinder system without direct position measurement is realized with the PI-Observer applied as virtual sensor. Here a discrete-time control algorithm is also designed and programmed to satisfy the normal industrial requirement. At last, a broader application of the robust EFL-PIO approach, a more efficient and compact numerical realization of the adaption algorithm for the API-Observer, and an API-Observer-based robust control or fault detection are suggested as future work.
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Dokumententyp:
Wissenschaftliche Abschlussarbeiten » Dissertation
Fakultät / Institut:
Fakultät für Ingenieurwissenschaften » Maschinenbau und Verfahrenstechnik
Dewey Dezimal-Klassifikation:
600 Technik, Medizin, angewandte Wissenschaften » 620 Ingenieurwissenschaften
Beitragende:
Univ.-Prof. Dr.-Ing. Söffker, Dirk [Betreuer(in), Doktorvater]
Univ.-Prof. Dr.-Ing. Liu, Steven [Gutachter(in), Rezensent(in)]
Sprache:
Englisch
Kollektion / Status:
Dissertationen / Dokument veröffentlicht
Datum der Promotion:
13.01.2011
Dokument erstellt am:
16.05.2011
Promotionsantrag am:
18.10.2010
Dateien geändert am:
16.05.2011
Medientyp:
Text
Quelle:
Buchhandelsausgabe u.d.T.: Liu, Yan: Robust Nonlinear Control Design with Proportional-Integral-Observer Technique. - Düsseldorf: VDI-Verlag 2011 (Verein Deutscher Ingenieure: Fortschritt-Berichte VDI / 8 ; 1188) ISBN 978-3-18-518808-4