• 제목/요약/키워드: 정유압구동기

검색결과 2건 처리시간 0.015초

정유압구동기(EHA)의 모델링과 제어기 설계 (Modeling and Controller Design of an Electro-Hydrostatic Actuator)

  • 허준영;김현호;이일영
    • 드라이브 ㆍ 컨트롤
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    • 제12권2호
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    • pp.1-6
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    • 2015
  • Recently, the Electro-Hydrostatic Actuator(EHA) has been developed as a result of research on energy saving. EHA is usually composed of a direct driven pump from an electric motor and is available to control cylinder displacement or velocity with high efficiency. In addition, it has the advantage of compactness, minimum leakage and availability of decentralized control. In this study, an EHA system was designed to decrease the path tracking error and manufactured for test. The linearization method provided in AMESim software was used to derive the model of EHA system. The derived model was applied to design the PI-D controller to effectively overcome the disturbance. The effectiveness of this controller was verified by further testing.

EHA의 정밀 힘제어를 위한 펌프 속도 제어기의 강인 내부루프 보상 (Robust Internal-loop Compensation of Pump Velocity Controller for Precise Force Control of an Electro-hydrostatic Actuator)

  • 김종혁;홍예선
    • 드라이브 ㆍ 컨트롤
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    • 제15권4호
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    • pp.55-60
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    • 2018
  • Force-controlled electro-hydrostatic actuators have to exhibit high backdrivability, to quickly compensate for force control errors caused by externally disturbed rod movement. To obtain high backdrivability, the servomotor for driving the hydraulic pump, should rotate exactly to such a revolution to compensate for force control errors, compressing or decompressing cylinder chambers. In this study, we proposed a modified velocity control structure, including a robust internal-loop compensator (RIC)-based velocity controller, for the servomotor to improve backdrivability of a force-controlled EHA. Performance improvement was confirmed experimentally, wherein sinusoidal velocity disturbance was applied to the force-controlled EHA, with constant reference input. Its dynamic force control errors reduced effectively, with the proposed control scheme, compared to test results with a conventional motordriver, for motor velocity control.