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## Abstract

This thesis aims to illustrate the construction of a mathematical model of a
hydraulic system, oriented to the design of a model predictive control (MPC)
algorithm. The modeling procedure starts with the basic formulation of a
piston-servovalve system. The latter is a complex non linear system with
some unknown and not measurable effects that constitute a challenging problem for the modeling procedure. The first level of approximation for system
parameters is obtained basing on datasheet informations, provided workbench tests and other data from the company. Then, to validate and refine
the model, open-loop simulations have been made for data matching with
the characteristics obtained from real acquisitions. The final developed set
of ODEs captures all the main peculiarities of the system despite some characteristics due to highly varying and unknown hydraulic effects, like the unmodeled resistive elements of the pipes. After an accurate analysis, since the
model presents many internal complexities, a simplified version is presented.
The latter is used to linearize and discretize correctly the non linear model.
Basing on that, a MPC algorithm for reference tracking with linear constraints is implemented. The results obtained show the potential of MPC in
this kind of industrial applications, thus a high quality tracking performances
while satisfying state and input constraints. The increased robustness and
flexibility are evident with respect to the standard control techniques, such
as PID controllers, adopted for these systems. The simulations for model
validation and the controlled system have been carried out in a Python code
environment.

Abstract

This thesis aims to illustrate the construction of a mathematical model of a
hydraulic system, oriented to the design of a model predictive control (MPC)
algorithm. The modeling procedure starts with the basic formulation of a
piston-servovalve system. The latter is a complex non linear system with
some unknown and not measurable effects that constitute a challenging problem for the modeling procedure. The first level of approximation for system
parameters is obtained basing on datasheet informations, provided workbench tests and other data from the company. Then, to validate and refine
the model, open-loop simulations have been made for data matching with
the characteristics obtained from real acquisitions. The final developed set
of ODEs captures all the main peculiarities of the system despite some characteristics due to highly varying and unknown hydraulic effects, like the unmodeled resistive elements of the pipes. After an accurate analysis, since the
model presents many internal complexities, a simplified version is presented.
The latter is used to linearize and discretize correctly the non linear model.
Basing on that, a MPC algorithm for reference tracking with linear constraints is implemented. The results obtained show the potential of MPC in
this kind of industrial applications, thus a high quality tracking performances
while satisfying state and input constraints. The increased robustness and
flexibility are evident with respect to the standard control techniques, such
as PID controllers, adopted for these systems. The simulations for model
validation and the controlled system have been carried out in a Python code
environment.

Tipologia del documento

Tesi di laurea
(Laurea magistrale)

Autore della tesi

Tramaloni, Andrea

Relatore della tesi

Correlatore della tesi

Scuola

Corso di studio

Ordinamento Cds

DM270

Parole chiave

Modeling,Model Predictive Control,Hydraulic Systems,Optimal Control

Data di discussione della Tesi

19 Luglio 2022

URI

## Altri metadati

Tipologia del documento

Tesi di laurea
(NON SPECIFICATO)

Autore della tesi

Tramaloni, Andrea

Relatore della tesi

Correlatore della tesi

Scuola

Corso di studio

Ordinamento Cds

DM270

Parole chiave

Modeling,Model Predictive Control,Hydraulic Systems,Optimal Control

Data di discussione della Tesi

19 Luglio 2022

URI

Gestione del documento: