Development of a pump-controlled double rod electro-hydrostatic actuator

Date

2025-1-8

Author

Özbaş, Cumhur

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This thesis addresses the modeling, state estimation, and robust control of Electro- Hydrostatic Actuators (EHA) for high-precision applications. A detailed mathematical model of the EHA system, encompassing hydro-mechanical, electrical, and control subsystems, is developed. Parametric uncertainties due to environmental and operational variations are systematically incorporated to ensure realistic plant behavior across a wide range of conditions. State estimation techniques, Kalman filters, are implemented for enhanced noise rejection and fault detection. Simulation and experimental results validate the robustness and accuracy of the proposed estimation algorithms. A Quantitative Feedback Theory (QFT)-based framework is employed for the robust design of velocity and position controllers. Leveraging Particle Swarm Optimization (PSO), the controllers are synthesized to meet stringent performance specifications. The cascade control structure effectively handles the bandwidth separation between inner and outer loops, ensuring high performance and robustness. The integrated approach, combining detailed modeling, state estimation, and optiv mized robust control design, achieves significant advancements in actuator reliability, noise rejection, and compliance with aviation standards. This work establishes a comprehensive foundation for the deployment of EHA systems in safety-critical flight control applications.

Subject Keywords

Electro-hydrostatic actuators, Nonlinear modeling, Robust control, Kalman filter, Controller optimization

URI

https://hdl.handle.net/11511/113346

Collections

Graduate School of Natural and Applied Sciences, Thesis