Robust design of a remote motion control system for hydraulic mechatronic drive with wireless operation

This Master thesis report presents the full design and practical implementation of a remote two degree of freedom PID control for a hydraulic actuator. The hydraulic cylinder is modelled as a linear system with a gain uncertainty that takes into account the change of the parameter used for the linearization and the variable time delay that affects the round time trip (RTT). The RTT is studied and modelled with a γ-distribution. The 2DOF PID controller is designed to verify the Robust Stability Condition, maximizing the integral action, thus the ki parameter. Then, the optimization of load disturbance rejection with constraints on robustness to model uncertainties. The remote controller is implemented with a laptop that communicates with a TCP-IP protocol through an Ethernet or WIFI connection. The design is tested in the hydraulic system at UiA. Both the simulation and experimental results show the expected behaviour of the control system.