The work reported in this thesis is concerned with the application
of digital control techniques to position control. The major
emphasis is devoted to the use of modular multi-microcomputers as
real-time controllers. Minicomputers and microcomputers do not
always meet the technical requirements of modern system design;
the modular multi-microcomputer controller is the most appropriate
choice in many high performance systems.
The specification, design and construction of a modular multimicrocomputer
controller is described. The controller has been
applied to an electro-hydraulic cylinder position control system,
where emphasis has been given to the control of load damping. The
control system design is based on the use of state-space methods.
Optimal control and observers are used.
Experimental tests are reported for open and closed loop. The
open-loop results show the particular characteristics of an
asymmetric cylinder drive. The closed-loop results show the
behaviour of the drive under a simple digital proportional controller
and a state-variable controller. variables such as position,
velocity, cylinder pressures and piston thrust are displayed for
several test conditions.
A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy of Loughborough University.