Control of a hydraulic servo system using Beckhoff real-time data acquisition computer based on MATLAB/SIMULINK platform

Abstract

This thesis presents development, implementation and testing the control algorithm of hydraulic servo system that is utilized as a test rig with 1-D hydraulic slider in Laboratory of Intelligent Machines which is a part of Mechanical Department in Lappeenranta University of Technology. The control scheme is based on using Beckhoff Embedded PC as a Real-Time Data Acquisition Computer and industrial PLC, MATLAB/SIMULINK as a programming, data capturing and development environment and TwinCAT 3 as real-time control environment. The hydraulic system is described from both physical and mathematical points of view. Mathematical modeling consists of system’s components, phenomena’s and processes expressions which were modeled using MATLAB/SIMULINK blocks. The system simulation model and laboratory rig both adjusted and tested with same types of typical disturbances. As a control algorithm test results system response as load position and pressure curves were obtained. The thesis includes two case studies which serve as preliminary research steps prior to the main research work. Those case studies provide hardware module and software descriptions. The first case study is dedicated to testing software with a simple digital actuator performing on and off tasks; the second is dedicated to Beckhoff DC-servomotor rotational velocity control method. Despite the exploratory character, these case studies can be utilized as instances and detailed instructions of MATLAB/SIMULINK environment and Beckhoff TwinCAT software systems integration process.