A common problem encountered in mobile hydraulics is the desire to automate motion control functions in a restricted-cost and restricted-sensor environment. In this thesis a solution to this problem is presented. A velocity control scheme based on a novel single component pressure compensated ow controller was developed and evaluated. <p> The development of the controller involved solving several distinct technical challenges. First, a model reference control scheme was developed to provide control of the valve spool displacement for a particular electrohydraulic proportional valve. The control scheme had the effect of desensitizing the transient behaviour of the valve dynamics to changes in operating condition. Next, the pressure/flow relationship of the same valve was examined. A general approach for the mathematical characterization of this relationship was developed. This method was based on a modification of the so-called turbulent orifice equation. The general approach included a self-tuning algorithm. Next, the modified turbulent orifice equation was applied in conjunction with the model reference valve controller to create a single component pressure compensated flow control device. This required an inverse solution to the modified orifice equation. Finally, the kinematics of a specific single link hydraulically actuated mechanism were solved. Integration of the kinematic solution with the flow control device allowed for predictive velocity control of the single link mechanism.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:SSU.etd-08242004-095457 |
| Date | 25 August 2004 |
| Creators | Dobchuk, Jeffery William |
| Contributors | Nikiforuk, Peter N., Fotouhi, Reza, Dolovich, Allan T., Crowe, Trever G., Burton, Richard T., Schoenau, Greg J., Silva, G. |
| Publisher | University of Saskatchewan |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://library.usask.ca/theses/available/etd-08242004-095457/ |
| Rights | unrestricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to University of Saskatchewan or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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