Elektro-Hidrolik Kol Sistemi için Lyapunov Tabanlı Gözlemci Tasarımı

Year 2022, Volume: 10 Issue: 2, 773 - 787, 30.04.2022

Mithat Önder , Alper Bayrak , Serkan Aksoy

https://doi.org/10.29130/dubited.1000111

Abstract

Bu çalışmada, elektro-hidrolik kol sistemlerinin yük basıncını gözlemlemek için Lyapunov tabanlı bir gözlemci tasarımı önerilmiştir. Gözlemcinin kararlılığı Lyapunov tabanlı yöntem kullanılarak araştırılmıştır. Kararlılık analizinde, gözlemci hatasının keyfi olarak küçük olacak şekilde ayarlanabilen orijin civarına yakınsadığı kanıtlanmıştır. Klasik PID denetleyicisi, elektro-hidrolik kol sisteminin konumunu kontrol etmek ve sistem durumlarını sınırlı tutmak için kullanılmıştır. Önerilen gözlemcinin performansı, MATLAB Simulink programında yapılan hesaplamalı benzetimlerle değerlendirmiştir. Gözlemcinin performansı iki durumda test edilmiştir: i) gürültüsüz durum ve ii) gürültülü durum. Gürültülü durumlarda, x_2 durumuna 30 dB ek beyaz Gauss gürültüsüne maruz bırakılmıştır. Hesaplamalı benzetim sonuçları, önerilen gözlemcinin hem gürültüsüz hem de gürültülü durumlarda verimli şekilde çalıştığını göstermektedir.

Keywords

Elektro-hidrolik kol sistemi, Lyapunov tabanlı gözlemci, Yük basıncı

Lyapunov Based Observer Design for Electro-Hydraulic Arm System

Abstract

In this paper, a Lyapunov based observer design is proposed to observe the load pressure of electro-hydraulic arm systems. The stability of the observer is investigated by using the Lyapunov based method. In the stability analysis, it is proven that the observer error converge to the vicinity of origin which can be adjusted to be arbitrarily small. The classical PID controller is used to control the position of the electro-hydraulic arm system and keep the system states bounded. The performance of the designed observer is evaluated by computational simulations which are conducted in MATLAB Simulink program. The performance of the observer is tested in two cases: i) noise free case and ii) noise case. In the noisy case, the state x_2 is exposed to the 30 dB additive white Gaussian noise. The computational simulation results are given to demonstrate that the proposed observer work efficiently in both noise free and noisy cases.

Keywords

Electro-hydraulic arm system, Lyapunov based observer, Load pressure

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