Řízení polohy přímočarého hydromotoru

Abstract

This thesis deals with the position control of a linear hydraulic motor controlled by a proportional valve. The theoretical section describes the structure of the control circuit, the operating principle of the PID controller, linear hydraulic motors including seals and position sensors, valves used in servo drives, and the dynamics of an oscillatory system. In the practical section, a hydraulic circuit and a position-controlled system were designed, and a position control system was implemented in the Matlab Simulink environment. Subsequently, the influence of controller parameters on the transient and frequency response is experimentally measured for four mechanical load configurations: without a weight and without a spring, with a weight only, with a spring only, and with both a weight and a spring. The obtained transient and frequency characteristics are evaluated, and an analysis of the pressure in the linear hydraulic motor is also performed. The result of this work is a comprehensive evaluation of the system’s dynamic properties as a function of controller settings and the type of mechanical load.