MODELING AND DESIGNING A MIMO CONTROL SYSTEM WITH HYDRAULIC DRIVES

A.T. ULIKYAN; A.L. MKHITARYAN; T.G. STEPANYAN; N.S. CHALOYAN

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A.T. ULIKYAN National Polytechnic University of Armenia Author
A.L. MKHITARYAN National Polytechnic University of Armenia Author
T.G. STEPANYAN National Polytechnic University of Armenia Author
N.S. CHALOYAN National Polytechnic University of Armenia Author

Keywords:

MIMO control system, hydraulic motor, PID controller, inverse kinematics problem, Stewart platform

Abstract

A MIMO control system with hydraulic motors is developed, the dynamics model of which was built in the Simulink (Simscape) environment. By means of physical modeling, the kinematics and dynamics of the system are studied. A PID controller is designed. The developed system was tested for different incoming signals.

MODELING AND DESIGNING A MIMO CONTROL SYSTEM WITH HYDRAULIC DRIVES

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