Modelli e schemi per il controllo del moto di attuatori idraulici

This thesis deals with the modeling and control of electohydraulic systems. On basis on an accurate nonlinear model, an innovative position control scheme is proposed. Such a control scheme is mady by some decoupled actions, each one aimed at achieving a specific target in the dynamic response of the system. Besides that, an original and innovative scheme for the coordinated motion control of multi-dof hydraulic systems is proposed. Such a control scheme, referred to as Delayed Reference Synchronization Control, aims at reducing the synchronization error by delaying the references of the inner position loop of the axis, on basis on an equivalent elastic error. The effectiveness of both control schemes is assessed by numerical simulations by means of an accurate simulator employed in Simulink.