الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
In this thesis, the background information of hydrostatic transmission systems was reviewed. Mathematical models that describe the behavior of hydrostatic transmission system consist of a variable displacement axial piston pump with a fixed displacement hydraulic motor was developed. The study begins by developing the equations that describe the dynamics of the hydraulic motor, the pressurized hose, and the hydraulic pump. Some of the resulting equations is nonlinear, so we make a linearization for nonlinear ones. These three contributions are shown to produce a third-order linear system.
The distinct feature of this model is that it includes important empirical test-data and has a better representation of dynamics dynamics of the swash plate state space model for a typical commercial hydrostatic transmission system was constructed; using system equations of the state space model, the steady state behavior of the system has been predicted and verified. One of the goals of this thesis is to build a system with minimum sensitivity over an expected range of environmental changes. A sensitivity analysis for the effect of change some critical parameters on the overall performance of the system to compensate for parameter uncertainties in the model have been investigated; T his is achieved by a series of simulation studies with small change of parameters by≠ 20%of its nominal value. In addition as investigation of closed loop poles (eigenvalues)movement on the real-imaginary plane as operating conditions are efficiency of system can be control design purpose.
It was conclude that the performance of the controlled system relies on the accuracy of the system model. A parameter adaptation was developed. The adaptation scheme was coupled with the control law. The work outline in this study represents a step in the design process associated with the optimal control.
A robust controller is designed to compensate the effect of model and parameters uncertainties and is capable of robustly satisfying disturbance rejection and set point tracking requirements over a range of operating speeds by two methods of control. An adaptive pole-placement technique was developed to design a controller to approximate the third order system to be studied as a second order one and for hydraulic motor speed control. Linear Quadratic Regulator (LQR) is studied to adaptation of the matrices Q and R. These two controllers are effective, demand output and able to handle model and parameters uncertainties. The desired system performance has been achieved in simulation.
A comparison between a theoretical simulation results and experimental results is achieved, this comparison is shown to be good tracking.