The role of a modular multi-microcomputer controller in position control systems

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.