가변 하중을 갖는 편로드 유압 실린더의 합성 자기동조 제어

Hybrid Self-Tuning Control of a Single rod Hydraulic Cylinder with Varying Payload

A proposed hybrid self-tuning control scheme for single rod hydraulic cylinder which has varying loads is presented here. An adaptive controller is developed for the system that use feedforward and P feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the hybrid self-tuning controller with a constant gain P contro- ller clearly shows its superior ability in handling load changes in quiescent states.