The aim of this thesis is to understand the current implementation, how different hardware and output frequency affects the hydraulic actuators in the current platform and Then an improve the controller should be presented. This needs to be both faster then the current controller and should not use more CPU recurses then necessary. With the understanding of current controller, three new regulators where implemented and tested. One uses a PI regulator and the other two uses an adaptive algorithm to generate the control signal. All where faster than the current one and the PI-implementation uses the lowest amount of CPU recurses, on the other hand this needs to be calibrated for the different hardware and output frequency’s. ThetwoadaptivecontrollersrequiresahigheramountofCPUrecurses, instead it requires less calibration to work.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-137781 |
| Date | January 2017 |
| Creators | Kleback, Oskar |
| Publisher | Linköpings universitet, Datorteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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