Realizace a zhodnocení možností rychlé polohové regulace hydraulických systémů

Abstract

This thesis deals with position control of hydraulic cylinders via Simatic programmable controller. This work includes analysis of the real system and control requirements of the real system. Model of the system was created in Simulink with the use of toolbox SimHydraulics. This model forms the basis for the linearization of the system and synthesis of the controller. Linearization was performed using a Hammerstein model, when a non-linear static characteristic was linearized by its inverse function. For control of the system was chosen conventional PID controller, when the constants of the controller was tuned by PID tuner in Matlab. The control program was made in STEP7 with respect to software standards of the Ingeteam company, where the hydraulic system is located. As a SCADA system was used WinCC by Siemens. In conclusion, results was applied and verified to the real system. It was a comparison of two proportional valves with different types of control, contribution of linearization, comparison of regulators, comparison of control with different times of sampling and comparison of regulation by cyclic interruption and using isochronous mode of Profibus DP.