Adaptiv regulator för en hydraulisk motor. : Implementering och evaluering av en adaptiv regulator-metod för användning i en hydraulisk servo i ett eldledningssikte-servo.

Hydraulic servo systems, such as those in the CEROS 200 radar director, face challenges from temperature-dependent dynamics and nonlinear behavior. For the CEROS 200, current control strategies relying on manually tuned, constant-gain pressure feedback loops lead to performance limitations and extensive configuration effort. This thesis aimed to develop and evaluate an adaptive inner-loop controller to improve performance consistency and reduce tuning effort for such systems. An indirect adaptive pole placement controller was designed, utilizing Recursive Least Squares (RLS) with a forgetting factor for parameter estimation. The design incorporated pre-filtering of known valve dynamics to enhance adaptation speed and practical robustness modifications, including dead zones. This adaptive scheme was evaluated through simulations within a MATLAB Simulink environment modeling the CEROS 200 system. Results demonstrate that the adaptive controller successfully compensates for temperature-induced dynamic variations, maintaining superior performance compared to a fixed-gain controller. The implemented dead zones effectively mitigated issues such as parameter drift during periods of low excitation. However, reliable parameter convergence necessitates persistent excitation, and the linear nature of the controller showed sensitivity to system nonlinearities at high requested velocities. While further robustness enhancements are recommended for fully autonomous online operation, the developed framework shows immediate potential as a tool for practical offline system identification and controller tuning, offering a pathway to improved performance and simplified commissioning.