드라이브 ㆍ 컨트롤 (Journal of Drive and Control)

  • 제18권4호
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  • Pages.52-58
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  • 2021
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  • 2671-7972(pISSN)
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  • 2671-7980(eISSN)
유공압건설기계학회 (The Korean Society for Fluid Power and Construction Equipment)
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Velocity Control of an Electro-hydraulic Servo System with Integral Variable Structure Controller

  • Huh, J.Y. (School of Mechatronic Engineering, Korea University of Technology and Education)
  • 투고 : 2021.08.18
  • 심사 : 2021.11.10
  • 발행 : 2021.12.01
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초록

The variable structure controller is designed such that in sliding mode, the system moves along the switching plane in the vicinity of the switching plane, thus it is robust because it is not affected by the parameter fluctuations of the plant. However, a controller based on a variable structure may not meet the desired performance when it is commanded to track any input or is exposed to disturbances. This study proposes a sliding mode controller that follows the IVSC (Integral Variable Structure Control) approach with ELO (Extended Luenberger observer) to solve this problem. The proposed sliding mode control is applied to the velocity control of the hydraulic motor. The sliding plane was determined by the pole placement, and the control input was designed to ensure the existence of the sliding mode. The feasibility of modeling and controller are reviewed by comparing with conventional proportional-integral control through computer simulation using MATLAB software and experimenting on the cases of significant plant parameter fluctuations and disturbances.

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과제정보

이 연구는 2020년도 한국기술교육대학교 교수 교육연구진흥과제 지원에 의하여 수행되었음을 밝힙니다. 한편, 부경대학교 이일영 교수 Lab.의 Sliding Mode Control 주말 세미나(2016년 9월 ~ 2017년 6월)에 참여한 결과입니다.

참고문헌

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