20.500.12556/DKUM-66805 Design of Lyapunov based nonlinear velocity control of electrohydraulic velocity servo systems Dizajniranje nelinearne regulacije brzine elektrohidrauličkog servo sustava metodom Lyapunova Development of a hydraulically driven process of steel centrifugal die casting industry requires accurate response of position in time. In the frame of preliminary investigations the analysis and control of electrohydraulic velocity servo system is considered in the presence of flow nonlinearities and internal friction. The nonlinear and uncertainty characteristics make the conventional controller not yield to the system high requirements. Two different nonlinear design procedures are employed: feedback linearization and backstepping. It is shown that both these techniques can be successfully used to stabilize any chosen operating point of the system. Additionally, invaluable new insights are gained about the dynamics of the system under consideration. This illustrates that the true potential of constructive nonlinear design lies far beyond the mere task of achieving a desired control objective. All derived results are validated by computer simulation of the nonlinear mathematical model of the system. Razvoj regulacijskog sustava hidrauličkog pogona u procesu centrifugalnog lijevanja čelika zahtijeva točan pozicijski i vremenski odaziv sustava, kako bi se što preciznije izlio lijev. U okviru preliminarnih istraživanja razmatrana je dinamička analiza i regulacija elektrohidrauličkog brzinskog servosustava, kod koje nastupaju nelinearnosti prouzrokovane hidrauličkim tokom i unutrašnjim trenjem. Nelinearnosti i nesigurnosti u dinamičkim karakteristikama otežavaju postizanje visokih zahtjeva po stabilizaciji upotrebom konvencionalnih regulatora. Prikazana su dva različita primjera nelinearnog konstruiranja regulatora, prvi kod kojeg je postignuta linearizacija povratnim ciklusom, i drugi primjer linearizacije povratnim korakom. Uporabom oba regulatora postignuta je učinkovita stabilizacija u bilo kojoj radnoj točki sustava. Isto tako ostvaren je i bolji uvid u dinamičke karakteristike sustava što daje dodatnu vrijednost spomenutom regulatoru. Rezultati su potvrđeni računarskom simulacijom uporabom nelinearnog matematičkog modela sustava. computer simulation electro-hydraulic velocity servo system integrator backstepping Lyapunov methods velocity control računalniške simulacije servo sistemi elektrohidravlika Lyapunova metoda regulacija hitrosti true false true Angleški jezik Hrvaški jezik Znanstveno delo 2017-07-11 12:13:28 2017-07-11 12:14:13 2022-08-01 13:11:26 2019-07-11 15:59:31 2017 0 0 str. 745-751 št. 3 Letn. 24 2017 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1330-3651 621.22:681.5 15346181 20637974 10.17559/TV-20160930073953 1330-3651 URN:SI:UM:DK:M7YE1GJ6 Tehnicki_vjesnik_2017_Deticek,_Gubeljak,_Kastrevc_Design_of_Lyapunov_based_nonlinear_velocity_control_of_electrohydraulic_velocity_servo.pdf Tehnicki_vjesnik_2017_Deticek,_Gubeljak,_Kastrevc_Design_of_Lyapunov_based_nonlinear_velocity_control_of_electrohydraulic_velocity_servo.pdf 1 4404F79C96EA6FE1D0BF7B7926A11B43 17e9a5964ad82208a9b26c92c28327f908d1d3de80798ed4c443e8bb3c02e816 6544f3e8-7c0e-11eb-bb7a-00155d0001ca 20.500.12556/dkum/49b0759b-f395-4ccb-9bce-948e9e8fed48 https://dk.um.si/Dokument.php?lang=slv&id=114015 http://hrcak.srce.hr/183033 1 https://dk.um.si/Dokument.php?lang=slv&id=114014 Fakulteta za strojništvo 0 0 0