Projeto e desenvolvimento de um sistema de controle para um atuador eletro–hidráulico: uma abordagem via linearização por realimentação

Abstract

The evolution of new control approaches has made it possible for real systems to be satisfactorily controlled in applications that require a certain degree of precision. In addition to improving control performance, the use of these approaches has other advantages such as cost reduction, since linear controllers require an apparatus with a certain degree of quality, and eliminate the need for system linearization. Among the approaches of non–linear control, the one that was chosen for the development of this work was the feedback linearization. This is a simple implementation control technique, but its performance depends greatly on the quality of the system modeling. In this work, the feedback linearization approach was implemented in the control of an electro–hydraulic system through a low cost micro controller. In spite of the wide use in several segments of the industry, it is known that the components of these systems are sources of innumerable non–linearities which make their control difficult through linear control techniques, so it is important to study the effectiveness of the implementation of techniques of non–linear control through the use of a low–cost apparatus. To the controller, several types of trajectory were submitted and the average error presented by each trajectory was measured.