Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Position Control of a 3 dof Closed-loop Cylinder System Using ER Valve Actuators

ER 밸브 작동기를 이용한 3자유도 폐회로 실린더 시스템의 위치제어

  • 최승복 (인하대학교 기계공학과) ;
  • 조명수 (인하대학교 기계공학과 대학원)
  • Published : 2000.03.01
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Abstract

This Paper presents the position tracking control of a closed-loop cylinder system using electro-rheological(ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-of-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system. Sliding mode controllers are then designed fer these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

Keywords

References

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