Hydraulic Servo-Systems: Modelling, Identification and Control Book

	Notation
1	Introduction	1
2	General Description of Hydraulic Servo-systems	9
2.1	Basic Structure of Hydraulic Servo-systems	9
2.2	Description of the Components	10
2.3	Classification of Hydraulic Servo-systems	19
2.4	Measurement and Control Devices	21
2.5	Application Examples	26
3	Physical Fundamentals of Hydraulics	29
3.1	Physical Properties of Fluids	29
3.2	General Equations of Fluid Motion	36
3.3	Flow Through Passages	40
3.4	Spool Port Forces	50
3.5	Electro-hydraulic Analogy	51
4	Physically Based Modelling	53
4.1	Introduction	53
4.2	Elementary Models	58
4.3	Typical Non-linear State-space Models	96
4.4	Structured and Simplified Models of Valve-controlled Systems	98
4.5	Determination of Specific Model Parameters	113
4.6	Implementation and Software Tools	122
5	Experimental Modelling (Identification)	127
5.1	Introduction	127
5.2	Pre-identification Process	131
5.3	Overview of Model Structures	136
5.4	Description of Selected Non-linear Model Structures	148
5.5	Parameter Estimation Methods	166
5.6	Optimisation Algorithms	176
5.7	Grey-box Identification of Non-linear Hydraulic Servo-system Models	184
5.8	Fuzzy Identification	187
5.9	Identification with Artificial Neural Networks	199
5.10	Model Validation and Comparison of Model Structures	204
5.11	Implementation and Software Tools	208
6	Hydraulic Control Systems Design	213
6.1	Introduction	213
6.2	Classical Feedback Control Design	216
6.3	Estimator-based State Feedback Control	223
6.4	Extensions to Linear Feedback Control	229
6.5	Feedback Linearising Control	239
6.6	Approaches Similar to Feedback Linearisation	256
6.7	Fuzzy Control	260
6.8	Neural-network-based Control	274
6.9	Vibration Damping Control	276
6.10	State Estimation	279
6.11	Implementation and Software Tools	286
6.12	Rapid Prototyping Tools for Control	286
7	Case Studies and Experimental Results	291
7.1	Identification and Control of a Synchronising Cylinder	291
7.2	Modelling and Control of a Small Differential Cylinder	299
7.3	Control of a Big Differential Cylinder	307
7.4	Vibration Damping Control for a Flexible Robot	311
7.5	Vibration Damping Control for a Concrete Pump	313
App. A	Fluid Power Symbols	317
App. B	Data and Catalogue Sheets	321
App. C	Non-linear Control Background	327
	References	333
	Subject Index	351