한국항해항만학회:학술대회논문집 (Proceedings of the Korean Institute of Navigation and Port Research Conference)
- 한국항해항만학회 1999년도 추계학술대회논문집
- /
- Pages.371-374
- /
- 1999
무인 컨테이너 운반차량의 조향을 위한 전기-유압 시스템의 안정도 분석 및 해석
Stability Analysis and Control of the Electro-Hydraul System for Steering of the Unmaned Container Transporter(UCT)
초록
This paper present the nonlinear control and the Lyapunov analysis of the nonlinear electro-hydraulic system for steering control of UCT. Electro-hydraulic system itself has the high nonlinearities arisen from the nonlinear characteristics of the pressure-fluid flow in valve and friction in cylinder. These nonlinearities are unmodeled terms in the transfer function. This paper presents the system modeling, analysis of stability based on the Lyapunov function and simulation of the nonlinear hydraulic servo system.