Al-Nahrain University

College of Information Engineering

System Engineering Department

Modeling and Control of Electrohydraulic

Servo Actuator Valve Using Fuzzy Controller
A Final Year Project

Submitted to the College of Information Engineering / system Engineering

Department in Partial Fulfillment of the Requirements for the Degree of

BACHELOR OF SCIENCE
IN
SYSTEM ENGINEERING

By

RAND YASEEN MOHAMMED

Supervised by:
Lect. Zeyad A. Karam

Dhu al-qidah 1442

July 2021
 Certification

I certify that this report entitled “Modeling and Control of Electrohydraulic

Servo Actuator Valve Using Fuzzy Controller”,
Was prepared by RAND YASEEN MOHAMMED under my supervision at
AL-Nahrain University / College of Information Engineering / System
Engineering Department for the final year project in partial fulfillment of the
requirements for the degree of Bachelor of Science in System Engineering.

Signature:

Name: Lecturer. Zeyad Abdulwahied Karam

Date: 2021

(Supervisor)

In view of the available recommendation, I forward this project for debate by

the examination committee.

Signature:

Name:

(Head of Department)

Date: / / 2021
 Certificate

We certify, as an examining committee, that we have read this final year

project entitled “Modeling and Control of Electrohydraulic Servo Actuator Valve
Using Fuzzy Controller”, examined the student RAND YASEEN MOHAMMED in its
content and found it meets the standard of a final year project report for the
degree of Bachelor of Science in System Engineering .

Signature: Signature:
Name: Name:
Date: / /2021 Date: / /2021
(member) (member)

Signature:

Name:

Date: / /2021

(Chairman)

Signature:

Name:
Date: / /2021
(Head of Department)
 Abstract
Electrohydraulic servo actuator mathematical model is one of the
highly nonlinear hydraulic models. Electrohydraulic servo actuators
used by aerospace, industrial and robotics applications for which
accurate and fast performance are required in the presence of large
loads or external disturbances. A servo actuator is made of a hydraulic
cylinder or rotary actuator that is closely connected to an
electrohydraulic servo actuator. This work focuses on modeling and
simulation of electrohydraulic servo actuator that used for position
control of the flight surface in a military aircraft with presence of
external forces. PI-like Fuzzy Logic position intelligent Controller (FLC)
is designed and simulated to control the actuator desired position
during a specified time with minimum steady state error, settling time
and oscillations in position response. This controller is implemented by
using MATLAB Simulink and it has a settling time of 0.168 (sec). By
comparison with reference, which has settling time of 0.341 (sec),
there is enhancement by using the proposed controller in settling time
about 50.733%.

I
 List of Contents
Abstract………………...……………….…………………...…………..…..........I
List of Contents……………………………………...………………….…..…... II

List of Tables……………………………………………………….…………..IV
List of fig Simulink …………….……………………………………………V
List of Figures………………………………………………..………………….VI

Chapter One: Introduction

1-1Overview ……………………………………………………………………1
1-2Literature Review …………………………………………………………….2
1-3Aim of project…………………………………………………………….......2

1-4 problem statement …………...……..………………………………………..3

1-5Report outlines…………………..……………………………………………3

Chapter Two: Mathematical Model

2-1 Introduction………………………………………………………………...4
2-2 deriving mathematical model of electro hydraulic servo actuator
………………………………………………………………………………........4

2-3 derived the computational controller………………………............................8

i-PID ……………………………………………………………………………..8

ii- PI………………………………………………………………………………8

iii - PD………………………………………………………………….………...9

2-4 Fuzzy systems………………………………………………...…….……….10

II
Chapter Three: system simulation and result
3-1 Introduction ……………………………………………………………………………………….....12

3-2 simulation of electrohydraulic servoactuator……………………………14

3-2-1 modeling of an electrohydraulic actuator (Simulink in Matlab)

……………………………………………..…………………………….….....14

3-2-2 The controlling of electrohydraulic servoactuator system by using PID

conventiona controllerl and (Simulink in Matlab) ………….............................. 19

3-2-3 The controlling of electrohydraulic servoactuator system by using PI

conventiona controller and (Simulink in Matlab) ………….............................. 24

3-2-4 The controlling of electrohydraulic servoactuator system by using PD

conventiona controllerl and (Simulink in Matlab) …………………………….......... 29

3-3 PI fuzzy……………………………………………...…………………….34

3-4 The controlling of electrohydraulic servoactuator system by using PI fuzzy

and (Simulink in Matlab) ………………………………………………....…..34

Chapter four: Conclusion and Future Work

4-1Conclusion……………..…………………………………………………...39
4-2FutureWork………..…………….………………………………………….41

4-3Abbreviation ……………………………………………………………….42

4-4 Refrance…………………………………..……..…………………………43

III
List of Tables
Table No Tatle Page

2-1 FLC rules table. 11

3-1 Servovalve and fluid 13

parameters

3-2 Load/actuator parameters 13

4-1 Improvement rate 39

4-2 improvement ratio btwen 40

computational pl and
fuzzy pl

4-3 improvement ratio btwen 40

computational plD and
fuzzy pl
4-4 improvement ratio btwen 40
computational pD and
fuzzy pl

IV

VI
List of fig Simulink

Simulink Fig No Title Page

3-1 Modeling of an 14
electrohydraulic actuator

3-2 Modeling of PID 19

controller

3-3 Modeling of PI controller 24

3-4 Modeling of PD 29
controller

3-5 Modeling of Pi fuzzy 34

controller

V
List of Figures
Figure no Titel Page

2-1 Electrohydrauliservoactuator. 4

2-2 Cutaway view of a four-way valve. 5

2-3 Block diagram of controlled actuator by 10

PI-FLC
2-4 I/O Membership functions of FLC. 11
3-1 ecom response in modeling of an 15
electrohydraulic actuator
3-2 flowrates response in modeling of an 16
electrohydraulic actuator
3-3 pressures response in modeling of an 16
electrohydraulic actuator
3-4 xval response in modeling of an 17
electrohydraulic actuator
3-5 Vvav response in modeling of an 17
electrohydraulic actuator
3-6 xact response in modeling of an 17
electrohydraulic actuator
3-7 Vact response in modeling of an 17
electrohydraulic actuator
3-8 PID controller response 20

3-9 ecom PID response 20

3-10 flowrates PID response S 21

3-11 pressures PID response 21

3-12 xval PID response 22

3-13 Vvav PID response 22

3-14 xact PID response 22

VI
3-15 Vact PID response 22

3-16 PI controller response 25

3-17 ecom PI response 25

3-18 flowrates PI response S 26

3-19 pressures PI response 26

3-20 xval PI response 27

3-21 Vvav PI response 27

3-22 xact PI response 27

3-23 Vact PI response 27

3-24 PD controller response 30

3-25 ecom PD response 30

3-26 flowrates PD response S 31

3-27 pressures PD response 31

3-28 xval PD response 32

3-29 Vvav PD response 32

3-30 xact PD response 32

3-31 Vact PD response 32

3-32 PI fuzzy controller response 35

3-33 ecom PI fuzzy response 35

3-34 flowrates PI fuzzy response S 36

3-35 pressures PI fuzzy response 36

VII
3-36 xval PI fuzzy response 37

3-37 Vvav PI fuzzy response 37

3-38 xact PI fuzzy response 37

3-39 Vact PI fuzzy response 37

VIII
 Chapter One
Introduction
1.1 Overview
The servo motor consists of a hydraulic cylinder or a rotary actuator closely
coupled to a hydraulic valve. Then comes the valve spool that contains the
ports. These ports, when pressure is applied to it, lead to the xval and vvav
formed as a result of the pressure exerted due to the electric signal. We will
notice the movement of the pendulum either to the right or to the left, which
leads to the occurrence of A flow in the stone, this flow leads to the
occurrence of a first pressure, a first volume, a second pressure and a second
volume, as a result, it will lead to the movement of the pistom. As a result
of the movement of the pistom, a new xact will be formed.

Figures shows a servo actuator in schematic form

The key component in this system is

-The servo valve.-A valve spool.

-Ports of a typical four-way hydraulic valve (C1 and C2) (port S and port R).

-Flow (Q1 and Q2).

-External load, mact.

-The spring Kact.

-(bact) is associated with the velocity

-dependent force encountered by the actuator as it moves.

-Applied load force (Fext)

- Volumes (V1 and V2)

–Pressures( P1 and P2)

1
1.2Literature Review
The closed-loop hydraulic actuator appeared in industry applications when high
performance was required. But these hydraulic servo actuators are still heavily
used in high-performance industrial applications such as the automation of the
production line. It begins taking a wide usage in variety of industries. Examples
for these applications are material handling, plants, convergence of a learning
mechanism and the position error. Nowadays there are many algorithms like
Genetic, particle swarm optimization, Ant, Bee colony are used as optimization
algorithms for improving the controller’s performance by finding the optimized
controller’s parameters.

In this work, the system in author will derive the electro hydraulic mathematical
model and control the derived system by using two type the first one conventional
controller of kinds PID, PD, PI then second controller is pi fuzzy logic controller
.then the decoction between the advantage of the fuzzy logic will dissection by the
system response carstrstic that including tr, ts,tp,ess,mp%,td.

1.3Aim of project

 1-Derive the nonlinear mathematical model of the (Electrohydraulic

Servoactuator ).

 2-Modeling of electrohydraulic servo actuator nonlinear system using

matlab Simulink .

 3- Design controller to control the nonlinear system under loud.

 4-Design fuzzy controller ((pi controller)) for controlling the output with
the exit point.

2
1.4 problem statement
 1-model nonlinear system (The Model of Electrohydraulic Servoactuator).
 2-control of nonlinear system under load.
 3-Control the Electrohydraulic system non linearity using nonlinear
controller fuzzy controller

1.5Report outlines
In the first chapter we talk about Overview for system the Model of
electrohydraulic Servoactuator and the component after that we talk abut
Literature Review that including the plane of project then we talk about Aim of
project and problem statement.

Chapter 2: Mathematical Modeling

Chapter 3: system simulation and result

Chapter 4 : Result Discussion and Future work

3
 Chapter Two
Mathematical Model
2.1 Introduction
The mathematical model of electro hydraulic servo actuator will derive .

2.2 deriving mathematical model of electro hydraulic servo

actuator
ELECTROHYDRAULIC SERVOACTUATOR MODEL
In this section, a common high-performance hydraulic system is described and modeled.
Electrohydraulic servoactuators are found on aerospace and robotic systems for which
accurate and fast responses are required in the presence of large and unpredictable external
loads. A servoactuator is made up of a hydraulic cylinder (or rotary actuator) closely coupled
to an electrohydraulic servovalve. Figure 2.1 shows a servoactuator in schematic form. The key
component in this system is the servovalve. Servovalves are specially designed flow control
valves that are capable of modulating flow between zero and some rated value. This is in
contrast to most hydraulic valves, which are designed to control only flow direction by moving
an internal component, the valve spool, between two or three preferential positions. Figure
2.2 shows a cutaway view of a valve spool and ports of a typical four-way hydraulic valve. Note
that the internal component, the valve spool, is free to move in a cylindrical bore that has ports
cut into it. As the spool moves to the right, it exposes the control ports (C1 and C2) to the
supply pressure and return ports, respectively. As the spool moves to the left, the connections
are reversed and fluid can flow from supply to C2 and from C1 to return. A servovalve has a
complex mechanism that allows the spool to be rapidly and accurately positioned at any point
between fully

Figure 2.1

Electrohydrauliservoactuator.

4
 Figure 2.2

Cutaway view of a four-way valve.

Closed and fully open. The mechanism that accomplishes this includes a stationary coil (stator),
a movable ferrous component (armature), a flexible component, and flapper valves. A detailed
analysis of servovalves lies beyond the scope of this text, but more information is readily
available from companies that manufacture and supply the valves such as Moog, Inc., of Albany,
NY. Manufacturers’ specifications for servovalves include the response of the valve spool, that
is, how fast one can expect the valve spool to change position in response to changes in the
current in the valve coil. For most applications, a second-order linear model adequately
describes this response, and the parameters of that model (coefficients of the differential
equation) can be derived from manufacturers’ literature. The form of the model equations is

𝒙˙𝒗𝒂𝒍𝒗𝒆 = 𝒗𝒗𝒂𝒍𝒗𝒆, (2.1)

𝒗˙𝒗𝒂𝒍𝒗𝒆 = 𝒂𝟏𝒗𝒗𝒂𝒍𝒗𝒆 + 𝒂𝟎𝒙𝒗𝒂𝒍𝒗𝒆 + 𝒃𝟎𝒆𝒄𝒐𝒎𝒎𝒂𝒏𝒅, (2.2)

Where a1, a0, and b0 are the model coefficients. Equations (2.1) and (2.2) make up the first two
state equations for the model of the servoactuator. There are two energy-storing elements in the
mechanical part of the system. One is the combined mass of the piston, piston rod, and the
external load, mact, and the other is the spring kact. The appropriate state variables for these
two elements are the position and the velocity of the actuator:

𝒙˙𝒂𝒄𝒕 = 𝒗𝒂𝒄𝒕,
(2.3)

𝒗˙𝒂𝒄𝒕 = 𝟏/𝒎𝒂𝒄𝒕 [(𝑷𝟏 − 𝑷𝟐)𝑨𝒑𝒊𝒔𝒕 − 𝒃𝒂𝒄𝒕 𝒗𝒂𝒄𝒕 − 𝒌𝒂𝒄𝒕 𝒙𝒂𝒄𝒕 − 𝑭𝒆𝒙𝒕], (2.4)

Where kact, bact, and mact represent the combined stiffness, damping, and mass associated with
the motion of the actuator and its load. For example, bact is associated with the velocity-

5
dependent force encountered by the actuator as it moves. This force will come from both the
piston itself (sliding inside the cylinder) and the external mechanism to which the actuator is
attached. Any externally applied load force (considered a model input for this discussion) can
be considered as Fext.

On the hydraulic side of the system, the motive force for the actuator comes from pressures in
the cylinder, which, in turn, result from flow entering and leaving the actuator by way of the
valve. The entrapped volumes between the valve and the actuator piston can be modeled as fluid
capacitances (see Subsection 9.2.1) and the pressures P1 and P2 are the remaining state variables
representing the potential energy stored in the two hydraulic capacitors:

𝑃1 = 1/ 𝐶𝑓1 (𝑄1 − 𝐴𝑝𝑖𝑠𝑡𝑣𝑎𝑐𝑡),

(2.5)

𝑃2 = 1/ 𝐶𝑓2 (𝐴𝑝𝑖𝑠𝑡𝑣𝑎𝑐𝑡 − 𝑄2),

(2.6)

Where

𝐶𝑓1 = 𝑉1 (𝑥𝑎𝑐𝑡)/ 𝐵 ,
(2.7)

𝐶𝑓2 = 𝑉2 (𝑥𝑎𝑐𝑡)/ 𝐵 ,
(2.8)

And b is the bulk modulus of the fluid, and is a physical property that quantifies the relationship
between the change in pressure and the change in volume. Note that the definitions of the fluid
capacitances indicate that the entrapped volumes (V1 and V2) are dependent on the
instantaneous position of the piston within the actuator. Also note the sign assumptions for Q1
and Q2. Q1 is defined as the flow out of valve port C1 and into the left-hand side of the cylinder
in Fig. 2.1. Q2 is defined as the flow into the valve at port C2 coming from the right-hand side
of the cylinder. These definitions are arbitrary but must be consistent with the valve flow
equations subsequently described. Equations (2.1)–(2. 6) are the six state-variable equations that
describe the servoactuator. However, the model is incomplete because the flows through the
valves (Q1 and Q2) are not described as functions of the state variables. In general, spool valves
like the one shown in Fig. 2. 2 are modeled as sharp-edged orifices with turbulent flow in which
the flow is proportional to the square root of the pressure differential across the valve. For

6
example, if the position of the valve spool is positive (to the right in Fig. 2. 2), then Q1 can be
modeled as

Q1 = Cd wvalve xvalve √(2/𝑝 (𝑃𝑠 − 𝑃1) (2. 9)

Two other considerations remain before the model is complete. First, Eq. (9.38) cannot be evaluated if
the pressure in the cylinder (P1) is higher than the supply pressure. Although it may not be intuitively
obvious, it is entirely possible that such a condition might exist, if only for a brief period, and the
equations should be modified to allow for that possibility. Second, if the valve spool position is negative,
Q1 and Q2 represent flows to and from different valve ports. The following conditional equations
adequately account for these situations. Note that the formulation is somewhat simplified by the
reasonable assumption that the pressure at the return port of the valve (normally connected directly to
the reservoir) is zero.

If 𝑋𝑣𝑎𝑙𝑣𝑒 > 0,

𝑄1 = 𝐶𝑑 𝑤𝑣𝑎𝑙𝑣𝑒 𝑥𝑣𝑎𝑙𝑣𝑒 𝑠𝑔𝑛(𝑃𝑠 − 𝑃1) √2/𝑝|𝑃𝑠 − 𝑃1| (2.10)

𝑄2 = 𝐶𝑑 𝑤𝑣𝑎𝑙𝑣𝑒 𝑥𝑣𝑎𝑙𝑣𝑒 √2/𝑝(𝑃2)| (2.11)

If 𝑋𝑣𝑎𝑙𝑣𝑒 < 0,

𝑄1 = 𝐶𝑑 𝑤𝑣𝑎𝑙𝑣𝑒 𝑥𝑣𝑎𝑙𝑣𝑒 √2/𝑝(𝑃1)| (2.12)

𝑄2 = 𝐶𝑑 𝑤𝑣𝑎𝑙𝑣𝑒 𝑥𝑣𝑎𝑙𝑣𝑒 𝑠𝑔𝑛(𝑃𝑠 − 𝑃1) √2/𝑝|𝑃𝑠 − 𝑃2| (2.13)

7
2.3 deriving the computational controller PI,PD,PID

In the process control industries, the controllers used for automatic control of various processes
are usually called as 3 term controllers. The output of this controller for an input error signal
consists of 3 additive terms-one proportional to the error, another. proportional to the integral
of the error and the third proportional to the derivative of the error. Due to this the controller is
also called as PID (Proportional, Integral, Derivative) controller.
The input-output relation of the above controller is given by:

U(t) = Kp e(t) + Ki ∫𝑡 𝑒(𝑡) dt + Kd (d e(t) / dt)

Where Kp, Ki and Kd are PID controller gains.A process with this 3 term controller in the loop

PROPORTIONAL CONTROLLER:

If we set Kd = Ki = 0, the PID controller reduces to a proportional controller: Gc(s) = Kp.

Where Gc(s) is the gain of the controller.
The proportional controller can be viewed as a volume control knob, which can be adjusted
higher or lower raising the gain helps reduce the effects of disturbances and reduces the system
sensitivity to plant parameter changes. However, we cannot reject disturbance entirely, and
steady-state error will generally persist. Also raising the gain too much can result in closed-loop
system, instability and magnification of any measurement noise present in the system. On the
plus side, the proportional controller is simple.

INTEGERAL CONTROLLER:
If we set Kp = Kd = 0, then the PID controller reduces to an integral controller:

Gc(s) = 𝐾𝑖𝑠
The benefits associated with the integral controller reducing or eliminating steady-state tracking
errors. This characteristic is due to the fact that using the integral controller increases the system
type by one. So a type zero plant with an integral controller can track a step input with zero
steady-state tracking error, a type one plant with an integral controller can track a ramp input
with zero steady-state error, and so on.
We can put the proportional controller and integral controller together to form a PI controll

Gc(s) = Kp + 𝐾𝑖/s = 𝐾𝑝𝑠+𝐾𝑖/s = Kp (s+ki/kp/s)

8
The PI controller has one zero at s= - 𝐾𝑖/ 𝐾𝑝 and pole at the origin s=0

DERIVATIVE CONTROLLER:

When Kp = Ki = 0, we have a derivative controller,

Gc(s) = Kd s
We use a derivative controller to increase system damping and improve stability. Generally, we
use a derivative controller in conjunction with the proportional and / or integral terms. The PD
controller is given by:

Gc(s) = Kp +Kd s

9
2-4 Fuzzy systems

Design and Simulation of PI-like Fuzzy Logic Position

Controlled Electrohydraulic Servo-actuator:

The actuator used for controlling the fight surface with desired direction by changing the displacement
of the valve piston to a desired distance. In this work the desired distance is 0.01 (m) and applied as a
step input to the system at presence of external forces of ( ), f=30 (Hz) as normal frequency. For a
nonlinear system like electrohydraulic servoactuator, the desired input can matched only through precise
controller. Figure (3.2) shows the block diagram of the system incorporating system model with
controller part. The block diagram of figure 4 incorporates the PI-like FLC as a position controller for
the desired input, before starting with intelligent controller the PID conventional controller with auto
tune mechanism by Matlab Simulink is used for

Figure 2.3
Block diagram of controlled actuator by PI-FLC

These problems in the actuator position response are undesirable in flight control system, so
there is a need for another controller with high performance in position response. PI-like FLC
is proposed for dealing with control problems by controlling the piston position of the actuator
and built by Matlab Simulink. The PI-like FLC controller is used to deal efficiently with the
nonlinearities in the actuator model and tracking the desired position with eliminated overshoot,
minimized steady state error, minimized settling time and minimized oscillations. The controller
equation is:

𝑈(𝑡) = 𝐾𝑝 𝑒(𝑡) + 𝐾𝑑 ė(𝑡) (2.13)

10
The inputs to the FLC are e (t) which is the position error signal and ė (t) which is the change
of position error. The KP and KD are the error and change in error gains and the output from
the controller integrated by integrator to get the PI control signal and KO is the output gain
used to adjust the outputs membership range. The FLC used in this work is Mamdani type.
The inputs and output membership functions are seven triangular shaped. The defuzzification
mechanism is selected to be Centre of gravity method. Figure (2.4) shows the membership
functions of the inputs and output. Table (1.2) lists the rules of the PI-like FLC Position
controller that was chosen by trial and error.

.
figure 2.4 Table (2.1) FLC rules table
I/O Membership functions of FLC.

The linguistic variables of FLC are NB (Negative Big), NM (Negative Medium), NS (Negative
Small), Z (Zero), PS (Positive Small), PM (Positive Medium), and PB (Positive Big) with
universe of discourse of [-10, 10], that represents the actual input model limits.

11
 Chapter Three
system simulation and result
3.1Introduction
In this chapter system simulation model will be presented in the flowing details

3.2 simulation of electrohydraulic servoactuator

An electrohydraulic servoactuator is used in a military aircraft to precisely control the position
of a flight control surface. The effective mass of the control surface and the actuation mechanism
is 40 kg (including the moving part of the actuator), and the effective stiffness of the mechanism
is 800 N/m. It has been estimated that the overall linear damping is about 6000 N s/m. The
hydraulic cylinder has a bore of 0.1 m, a rod diameter of 0.02 m, and a total stroke of 0.7 m.
The valve is a high-performance servovalve rated at 5 gal/min, capable of responding to
sinusoidal commands as high as 100 Hz without significant degradation. Develop a simulation
of this system by using Simulink. As a test of the model, simulate the response of the actuator
to an input that commands the valve from fully closed, to fully open for 0.5 s, then fully closed
again. The model parameters are summarized in Tables 9.1 and 9.2. Figure 9.13 shows a
Simulink model of the servoactuator. Although the diagram is fairly complicated, it helps to
focus on the integrator blocks. Note that there are six integrator blocks, two associated with the
valve position (servovalve dynamics), two

12
 Table 3 - 1. Servovalve and fluid parameters

Note: These parameters are consistent with an MTS 252.23 or Moog 760-X19
servovalve/servo amplifier r set up to respond to a voltage command of +/− 10 V

Table 3-2. Load/actuator parameters

13
3.2.1modeling of an electrohydraulic actuator (Simulink in
Matlab)

Fig (3.1)

Modeling of an electrohydraulic actuator Simulink in Matlab

14
Result modeling of an electrohydraulic actuator (Simulink in
Matlab)

ecom response
10

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time(s)

Fig (3-1)

Result of ecom response in modeling of an electrohydraulic actuator Simulink in Matlab

15
 -4
x 10 flowrates response
10
Q1
Q2

6
flowrate(m3/s)

-2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time(sec)

Fig (3-2)

Result of flowrates response in modeling of an electrohydraulic actuator Simulink in

Matlab

6
x 10 pressures response
10
P1
P2

6
pressure(pa)

-2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time(sec)

Fig (3-3)

Result of pressures response in modeling of an electrohydraulic actuator Simulink in

Matlab

16
 Vvav response
-3
x 10 xval response 0.8
3

0.6
2.5

0.4

0.2

Vvav(m/s)
1.5
xval(m)

1
-0.2

0.5
-0.4

0 -0.6

-0.5 -0.8
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time(s) time(sec)

Fig (3-4) fig (3-5)

Result of xval & Vvav response in modeling of an electrohydraulic actuator Simulink in

Matlab
Vact response xact response
0.08 0.04

0.035
0.06

0.03

0.04 0.025

0.02
Vact(m)

xact(m)

0.02

0.015

0 0.01

0.005
-0.02

-0.04 -0.005
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time(sec) time(sec)

Fig (3-6) fig (3-7)

Result of xact & Vact response in modeling of an electrohydraulic actuator Simulink in

Matlab

17
Result and consultation of an electrohydraulic actuator:

Associated with the actuator/load combination, and two associated with the pressures on either
side of the actuator position. Note that the latter two blocks (P1 and P2) are somewhat different
in that they are internally limited by the software so that they cannot go negative (this is done
by use of the dialog box associated with the integrators). Finally, note that the equations
associated with the valve flow [(2.10)–(2.13)] as well as the computation of the pressure
derivatives are embedded in a function call.

Simulation Results In this model, very fast dynamics associated with the fluid capac-itances are
combined with the relatively slow load dynamics, giving rise to a system

Therefore the ODE15S algorithm is used in Simulink to compute the response. As described in
the beginning of the example, the input to the simulation is a time-varying voltage that is at 0 V
at the initial time, rises to 10 V at 0.5 s, and returns to 0 V at 1.0 s. According to our knowledge
of the system, we would expect the servovalve to open to its fully open position (corresponding
to a 10-V command) at 0.5 s and return to the closed position at 1.0 s. Figure 3.4 shows the
valve spool response from the simulation that confirms this expectation. Figure 3.2 shows the
flow rates through the valve for the system. Note that the flow rate into the left-side chamber
responds nearly instantly when the valve opens,

But the return side flow is slow to respond because this flow arises as the load piston “sweeps”
the low-pressure fluid out of the actuator. Finally, the motion of the actuator is shown in Fig. 3.
6 and Fig. 3. 6 Note that the velocity shows considerable oscillation at the points of valve
opening and closure, in spite of the fact that the damping coefficient is relatively high. This is
typical with electrohydraulic servo systems because the dynamics associated with the actuator
pressures and valve flows is usually highly underdamped.

18
3.2.2 The controlling of electrohydraulic servoactuator system by
using PID computational and (Simulink in Matlab)

Simulink fig (3.2)

Modeling of PID controller (Simulink in Matlab)

19
Results of PID computational controller (Simulink in Matlab)

-3
x 10 pid response
12
data1
data2

10

X: 0.1259
Y: 0.00577
xact&xactdd(m)

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-8)

Results of PID controller response Simulink in Matlab

ecom pid
10

6
voit

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-9)

Result of ecom PID response Simulink in Matlab

20
 -4
x 10 flowrates pid
10

6
flowrate(m3/s)

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-10)

Result of flowrates PID response Simulink in Matlab

6
x 10 pressures pid
7

4
pressure(pa)

-1
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-11)

Result of pressures PID response Simulink in Matlab

21
 -3 Vvav pid
x 10 xval pid
3 0.3

0.25
2.5

0.2
2

0.15

1.5

Vvav(m/s)
xval(m)

0.1

1
0.05

0.5
0

0
-0.05

-0.5 -0.1
0 1 2 3 4 5 6 7 8 9 10 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time(sec) time(sec)

Fig (3-12) fig (3-13)

R esult of xval & Vvav PID response Simulink in Matlab

-3
x 10 xact pid
Vact pid
12
0.08

0.07
10

0.06
8

0.05

6
0.04
xact(m)

Vact(m)

4 0.03

0.02
2

0.01

0
0

-2 -0.01
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
time(sec) time(m)

Fig (3-15)
Fig (3-14)

Result of xact & Vact PID response Simulink in Matlab

22
Result conculation of PID computational:

In PID computational controller we use the Proportional (P):8 and Integral (I): 0.5 and

Derivative (D): 0.1 and Filter coefficient (N):100

We note that there is a slight and continuous fluctuation in the ecom

As for the flow, the first flow is symmetric and the second is oscillating

As for the pressures, they are free from fluctuation and equal

As for Xval and Vvav they are free from fluctuation

As for Xact its not probiem and the Vact hase big oscillation

23
3.2.3.The controlling of electrohydraulic servoactuator system by
using PI computational and (Simulink in Matlab)

Figure Simulink (3.3)

Modeling of PI controller (Simulink in Matlab)

24
Results of PI computational controller (Simulink in Matlab)

-3
x 10 pi response
12
data1
data2

11

10
xact&xactdd(m)

5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time(sec)

Fig (3-16)

Results of PI controller response Simulink in Matlab

ecom pi
10

6
volt

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-17)

Result of ecom PI response Simulink in Matlab

25
 -4
x 10 flowrates pi
10
Q1
Q2

6
flowrate(m3/s)

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-18)

Result of flowrates PI response Simulink in Matlab

6
x 10 pressure pi
7
P1
P2
6

4
pressure(pa)

-1
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-19)

Result of pressures PI response Simulink in Matlab

26
 time(sec)
-3
xval pi 0 1 2 3 4 5 6 7 8 9 10
x 10 -0.1
3

0
2.5

0.1

0.2

1.5

) s /m( va v V
xval(m)

0.3

1
0.4

0.5 0.5

0 0.6

0.7
-0.5 Vvav pi
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-20) Fig (3-21)

Result of xval & Vvav PI response Simulink in Matlab

-3 Vact pi
x 10 xact pi
0.08
12

0.07
10

0.06

8
0.05

6 0.04
Vact(m)
xact(m)

0.03
4

0.02
2

0.01

0
0

-2 -0.01
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
time(sec) time(sec)

Fig (3-22) Fig (3-23)

Result of xact & Vact PI response Simulink in Matlab

27
 Result conculation of PI computational:
In PI computational controller we use the Proportional (P):8 and Integral (I): 0.5 and

and Filter coefficient (N):100

We can't match pi to zero, which causes overshot

We note that there is a slight and continuous fluctuation in the ecom

As for the flow, the first flow is symmetric and the second is oscillating

As for the pressures, , the first f pressures is symmetric and the second is oscillating

As for Xval and Vvav they are free from fluctuation

As for Xact its very simple oscillation and the Vact hase big oscillation

28
3.2.4 The controlling of electrohydraulic servoactuator system by using PD
computational and (Simulink in Matlab)

Figure Simulink (3.4)

Modeling of PD controller (Simulink in Matlab)

29
Results of PD computational controller (Simulink in Matlab)
-3
x 10 pd response
12
data1
data2

10

8
xact&xactdd(m)

-2
0 1 2 3 4 5 6 7 8 9 10
time(m)

Fig (3-24)

Results of PD controller response in Simulink Matlab PD controller

ecom pd
10

6
volt

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-25)

Result of ecom PD response Simulink in Matlab

30
 -4
x 10 flowrates pd
10
Q1
Q2

6
flowrate(m3/s)

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-26)

Result of flowrates PD response Simulink in Matlab

6
x 10 pressures pd
7
P1
P2
6.5

5.5
pressure(pa)

4.5

3.5

3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time(sec)

Fig (3-27)

Result of pressures PD response Simulink in Matlab

31
 -3 -3
x 10 xval pd x 10 xval pd
3 3

2.5 2.5

2 2

1.5 1.5
xval(m)

xval(m)
1 1

0.5 0.5

0 0

-0.5 -0.5
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
time(sec)
time(sec)

Fig (3-28) fig (3-29)

Result of xval & Vvav PD response Simulink in Matlab

-3
x 10 xact pd vact pd
12 0.08

0.07
10

0.06

8
0.05

6 0.04
vact(m)
xact(m)

0.03
4

0.02

2
0.01

0 0

-0.01
0 1 2 3 4 5 6 7 8 9 10
-2 time(sec)
0 1 2 3 4 5 6 7 8 9 10
tim(sec)

Fig (3-30) fig (3-31)

Result of xact & Vact PD response Simulink in Matlab

32
 Result conculation of Pd computational:
In PD computational controller we use the Proportional (P):8 and

Derivative (D): 0.1 and Filter coefficient (N):100

In PD we see that is match with zero

We note that there is a slight and continuous fluctuation in the ecom

As for the flow, the first flow is symmetric and the second is oscillating

As for the pressures, they are free from fluctuation and equal

As for Xval and Vvav they are free from fluctuation and equal

As for Xact its not probiem and the Vact hase big oscillation

33
3.3 PI fuzzy controlling:
The Simulink model of the PI-like FLC connected with Simulink actuator model is shown in
Simulink (3.5). Many trials were done for tuning the PI-like FLC parameter gains to enhance
the performance of the desired position response, the parameters gains at first found manually
by trial and error were KP =30, KI =330 and KO =135. Figure (3.32) shows this case of piston
position response with PI-FLC of manual tuning. (In fuzzy system there is no PI controller,
because of the fuzzy system built by depending on error and derivative of error, so the integrator
was added to the output signal of PD controller to been PI controller, that means the gain KP of
PI controller is Kd in the PD controller but after integration becomes Kp, the gain KI of PI
controller is Kp at the PD controller but becomes KI after adding the integration to the PD
controller). From figure 8, there is 0.000168 (m) as overshoot in position response coupled with
small percentage of steady state error that still appeared in the majority of trial and error tuning
results.

3.4 The controlling of electrohydraulic servoactuator system by using PI fuzzy and

(Simulink in Matlab)

Figure Simulink (3.5)

Modeling of Pi fuzzy controller (Simulink in Matlab)

34
 Results of PI fuzzy controller (Simulink in Matlab)
-3
x 10 pi fuzzy controller
12

11

10
xact &xactdd(m)

5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time(sec)

Fig (3-32)

Results of PI fuzzy controller response Simulink in Matlab

ecom fuzzy response

10

6
volt

-2
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-33)

Result of ecom PI fuzzy response Simulink in Matlab

35
 -4
x 10 FLOWRATES FUZZY RESPONSE
9
Q1
Q2
8

5
flowrate(m3/s)

-1
0 1 2 3 4 5 6 7 8 9 10
time(sec)

Fig (3-34)

Result of flowrates PI fuzzy response Simulink in Matlab

6
x 10 pressures fuzzy response
7
P1
P2
6.8

6.6

6.4

6.2
pressure(pa)

5.8

5.6

5.4

5.2

5
0 0.5 1 1.5 2 2.5
time(m)

Fig (3-35)

Result of pressures PI fuzzy response Simulink in Matlab

36
 Vvav fuzzy response
-3
xval fuzzy response 0.12
x 10
3

0.1

2.5

0.08

2
0.06

Vvav(m/s)
1.5
0.04
xval(m)

1
0.02

0.5 0

-0.02
0

-0.04
0 1 2 3 4 5 6 7 8 9 10
-0.5
0 1 2 3 4 5 6 7 8 9 10 time(m)
time(m)

Fig (3-36) fig (3-37)

Result of xval & Vvav PI fuzzy response Simulink in Matlab

-3
x 10 xact fuzzy response Vact fuzzy response
12 0.08

0.07
10

0.06

8
0.05

6
0.04
Vact(m)
xact(m)

0.03
4

0.02
2

0.01

0
0

-2 -0.01
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10
time(sec) time(sec)

Fig (3-38) fig (3-39)

Result of xact & Vact PI fuzzy response Simulink in Matlab

37
 Result conculation of PI fuzzy:

in fuzzy not Significantly reduce the oscillation rate

38
 Chapter four
Conclusion and Future Work
4- 1 Conclusion
We derived mathmatical elctro servoactuater and we design foUr controller, the first one is
computational PID, PI and PD and the second one is the fuzzy controller PI

CHARACTERISTIC CONTROLLER Table 4 – 1

controller Tr Ts Tp Ess Mp % Td
Computational PI 0.008937 0.01006 0. 1008 0.98994 0.010075% 0.0044
Computational 0.007987 0.01005 0.01009 0.98995 0.01008% 0.00399
PID
Computational 0.005598 0.01 0.01 0.99 0.00991% 0.002799
PD
FUZZY 0.009952 0.01 0.01015 0.99 0.01015% 0.008014
PI

The one can conclusion from this work that the test result founded by using fuzzy controll where
adding lode to electro hydraulic servo actuator the minimise osculation having in the fuzzy
controller and that we can note from the table that founded the percentage of highs mentioned
in each part of characteristic the fuzzy

39
 Improvement rate
Table 4 – 2 Improvement ratio btwen computational pl and fuzzy pl
controller Tr Ts Tp Ess Mp % Td
Computational PI 0.008937 0.01006 0. 1008 0.98994 0.010075% 0.0044
FUZZY 0.009952 0.01 0.01015 0.99 0.01015% 0.008014
PI
improvement ratio -0.11357 5.964 0.8993 -6.0609 -7.444 *10^-3 -0.821
btwen *10^-3 *10^-5
computational pl
and fuzzy pl

Improvement ratio btwen computational plD and fuzzy pl Table 4 – 3

controller Tr Ts Tp Ess Mp % Td
Computational 0.007987 0.01005 0.01009 0.98995 0.01008% 0.00399
PID
FUZZY 0.009952 0.01 0.01015 0.99 0.01015% 0.008014
PI
improvement ratio -0.24602 4.975 -5.946 -5.0507 -6.9444* 10^- -1.0085
btwen *10^-3 *10^-3 *10^-5 3
computational plD
and fuzzy pl

Improvement ratio btwen computational pD and fuzzy pl Table 4 – 4

controller Tr Ts Tp Ess Mp % Td
Computational 0.005598 0.01 0.01 0.99 0.00991% 0.002799
PD
FUZZY 0.009952 0.01 0.01015 0.99 0.01015% 0.008014
PI
improvement ratio -0.77777 0 -0.015 0 -0.0242 -1.863
btwen
computational plD
and fuzzy pl

40
4-2 FutureWork

is that using Artificial intelligence for optimization the gain of fuzzy controller to find minimise
error in response withe zero error study state withe minimise ts,tr,tp,mp% and make error
study state zero and one peace in Artificial intelligence it is POS Algorithm

41
4-3 Abbreviation
As = Spool area
b act= Damping coefficient

C1= Valve port of chamber 1

C2= Valve port of chamber 2

Cd= Orifice coefficient

Cf1 = Fluid capacitance of chamber 1

Cf2=Fluid capacitance chamber 2

e command= Command voltage – the control signa

Fext= externally applied force

K act= Stiffness coefficient

m act = Mass coefficient

Q1=Flow out of valve port C1

Q2= Flow out of valve port C2

V1= Volumes of chamber 1

V2= Volumes of chamber 2

Wvalv=Valve port width

Xvalv = Valve spool position

Xact= Actuator position

Xactdd= Actuator desired position

β =Bulk modulus

PI= Proportional Integral

PID= Proportional Integral Derivative PD= Proportional Derivative

42
References
[1] “MODELLING OF SPOOL POSITION FEEDBACK SERVOVALVES” International
Journal of Fluid Power 5(2004) No.1 pp37-50, January, 2004.

[2] Pintu Mondal . 2009, M.E. Thesis submitted in the subject “A Study of Dynamic
Behaviour of Split Spool Type Electrohydraulic Servovalve with a Loaded Hydraulic
Servomotor” Dept. Of Applied Mechanics And Drawing,B.S.S.U

[3] M. Gilali and A. Kroll, Servo Hydraulic System: Modeling, Identification and Control,
Springer, 2nd Edition, Britain, 2004.

[4] Modern Control Engineering Fifth Edition Katsuhiko Ogata

43
 ‫الملخص‬
‫يمكن ان نستخدم هذه االنضمه الهيدروليكيه في تطبيقات االدوات االليه وانضمه التحكم بالطائرات‬
‫والسدود بسبب انه يتيميز بااليجابيه والدقه والمرونه والوزن وسرعه البدء وااليقاف واالنعكاس‬
‫بسالسه ودقه ومن الممكن استخدام االنضمه الهيدروليكيه في ل ضروف مستمره ومتقطعه‬

‫وعكسيه ومتوقفه دون ضرر‬

‫يتكون المحرك الموازر من اسطوانه هيدروليكيه او مشغ دوار مقترن بشك وثيق بصمام هيدلروليكي‬
‫تاتي بعدها بكرة الصمام التي تحتوي على المنافذ هذه المنافذ عند تسليط الضغط عليها يؤدي الى حصو‬
‫ازاحه الصمام وسرعه الصمام لمتكون نتيجه الضغط المسلط بسبب االشاره االكهرباءيه سنالحل حركه‬
‫البندو اما لليمين او لليسار مما يودي الى حصو تدفق في الحجر هذا التدفق يودي الى حصو ضغط‬
‫او وحجم او وضغط ثاني وحجم ثاني نتيجه لذلك سيودي الي حركه البستم نتيجه لحركه البستم سوف‬
‫تتكون االزاحه الجديده للمحرك‬

‫لقد قمنا بااشتقاق مؤازر كهربائي رياضي وصممنا وحدة التحكم ‪ PI,PID,PD ،‬والثانني الضبابي ‪PI‬‬
‫التصميم االول هو‬

‫يمكن للشخص أن يستنتج من هذا العم أن نتيجة االختبار تأسست باستخدام التحكم اللبابي حيث يتم‬
‫إضافة حم إلى المشغ الهيدروليكي المؤازر لتقلي التقلب الموجود في وحدة التحكم الضبابيه ويمكن‬
‫أن نالحل من الجدو‬

‫بعد ذلك قمنا بمقارنة انضمه التحكم الرياضي الثالثه المستخدمه وقمنا بمقارنتها مع النضام الضبابي‬
‫حيث قمنا بايجاد نسبه التحسين ووضعها في جداو‬

‫‪44‬‬
 ‫جامعة النهرين‬
‫كلية هندسة المعلومات‬
‫قسم هندسة المنلومات‬

‫النمذجة والتحكم في صمام المحرك الموازر الكهرو هيدروليكي باستخدام جهاز‬

‫التحكم الضبابي‬
‫مشروع السنة المنتهية‬

‫مقدم الى كلية هندسة المعلومات ‪ /‬قسم هندسةا لمنلومات كجزء من متطلبات ني شهادة‬

‫البكالوريوس‬
‫في‬

‫هندسة المنلومات‬

‫من قب‬

‫رند ياسين محمد‬

‫باشراف‬
‫م‪ .‬زياد عبد الواحد كرم‬

‫‪2441‬‬ ‫ذو القعدة‬

‫‪1212‬‬ ‫تموز‬

‫‪45‬‬