• Proceedings of the KSME Conference
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• 2001.06b
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• pp.146-151
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• 2001

The Grand-Touring is a game motion simulator that simulates the race-car driving motion with three hydraulic cylinders which connect the platform and base in parallel. Its motion control system consists of the PC-based main controller and micro-controller based sub-controller. The former one process the dynamic image of race-car in response to the driver's action and computes the reference command for each cylinder and the latter one is designed for the tracking control of hydraulic cylinder and interfacing the auxiliary signals between various sensors/actuator and main controller. In this research, we developed the sub-controller that implements the required functions of Grand-Touring and prove the overall performance with experiments.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.103-111
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• 2009

Multi-climbing hydraulic robots are used to lift construction factory (CF) synchronously for applications in the automation of a high-rise building construction. In this study, synchronous motion controller is proposed for the hydraulic robots, whose strategy is not only to make each robot follow the reference path basically by sliding-mode control, but also to synchronize motions of two adjacent cent robots consecutively by cross-coupled control technique. Simulations are performed by using SIMULINK for a system similar to a practical application that includes unbalance in CF and wind disturbance. The results show that the proposed controller significantly reduces synchronous errors, compared to the individual controller for each hydraulic robot.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.863-868
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• 2011

This paper presents a method to achieve a synchronous positioning objective for a dual-cylinder electro-hydraulic system with friction characteristics. The control system consists of a VSC (Variable Structure Controller) for each of the hydraulic cylinders and a PID (Proportional-Integral-Derivative) feedback controller. The PID controller is used for controlling the non-synchronous error generated by both cylinders when motion synchronization is carried out. To enhance the position-tracking performance of the individual cylinders friction characteristics is modeled in model, based on the estimated friction force. The simulation and experimental results show that the proposed method can effectively achieve the objective of position synchronization in the dualcylinder electro-hydraulic system, with maximum synchronization error with ${\pm}2\;mm$.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.86-93
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• 2021

This paper proposes a controller to regulate the supply pressure of the hydraulic power unit (HPU) for driving a bipedal robot. We establish flow rate models for charging accumulator, actuating joints and leaking from actuators and spool valves. This determines the pump driving motor speed to satisfy the demanded flow rate for operating the bipedal robot without the energy loss caused by the bypass through a pressure regulating valve. We apply proposed controller to an onboard HPU mounted on top of bipedal robot platform with twelve degrees of freedom. We implement air-walking motion and squat motion which require variable flow rate to the bipedal robot. Through this experiment, the energy efficiency of proposed controller was verified by comparing the electric energy consumed when the controller was applied and when the pump operated at constant speed. We also shows the capability of the HPU's control performance to regulate supply pressure.

• Journal of KSNVE
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• v.8 no.3
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• pp.441-449
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• 1998

A self-tuning control scheme, incorporated with the simplified 1st-order ARMAX(Auto-Regressive Moving Average eXogenous) model, for single rod hydraulic cylinder which has varying dynamic characteristics is presented here. An adaptive controller is developed for the system that uses feedforward and optimal feedback control for simultaneous parameter identification and tracking control. Through experimental results, the performance comparison of the self-tuning controller with a fixed gain proportional controller clearly shows its superior ability in handling load changes in quiescent states.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.137-137
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• 2000

In this research. we developed Tire Roller Prototype which is operated hydraulic transmission system. For develop the theoretically computer aided system, we practiced the simulation of hydraulic system and dynamic modeling and will compare with the experiment results of Tire Roller Prototype. We conceptualize the new hydraulic system and derive the equations of motion for dynamic analysis. Finally, we will design the controller, which can manage the hydraulic circuit of servo mechanism system. We define new hydraulic system and integrate modeling of Tire Roller through simulation of h\ulcornerdraulic system and design of controller. From above procedure. Hydraulic transmission system characteristics and target performance can be investigated. To follow the required performance, we select the parts of Tire Roller. We manufactured the prototype of Tire Roller, and will install the equipment for experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.7
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• pp.955-960
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• 2004

In this paper, a neural network controller that can be implemented in parallel with a PD controller is suggested for motion control of a hydraulic servo cylinder. By applying a self-excited oscillation method, the system design parameters of open loop transfer function of servo cylinder system are identified. Based on system design parameters, the PD gains are determined for the desired closed loop characteristics. The Neural Network is incorporated with PD control in order to compensate the inherent nonlinearities of hydraulic servo system. As an application example, a motion control using PD-NN has been performed and proved its superior performance by comparing with that of a PD control.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.1
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• pp.39-47
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• 2014

In this study, 2 degree of freedom PID controller is added to the conventional feed-forward controller for the purpose of improving its limitations such as set-point of tracking performance and disturbance suppression performance in the conventional PID controller. And the controller parameters optimization as a Real Coded Genetic Algorithm (RCGA) is used. Simulation and experiments verify the performance of the controller.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.917-922
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• 2008

In order to reduce energy consumption, secondary controlled system has been applied to many types of equipments. In lifting equipments or press machines using hydraulic cylinder, a hydraulic transformer is used as a control component instead of a valve for motion control and a component for recovering potential energy of load. The transformer is combination of a variable displacement pump/motor as a secondary controlled element and a fixed displacement pump/motor. Based on the nominal model derived from mathematical model, the feedback type two-degree-of-freedom controller is designed and implemented. From simulation results, the disturbances including nonlinear friction torque, leakage flow and load force can be compensated and good positioning accuracy is obtained. It show that the proposed controller is effective.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.05a
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• pp.167-169
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• 2011

Construction Automation as a way to solve the problems of lack of skilled labor by decrease in construction population productivity and quality decrease. We are on the way to develop a construction automation system adequate for domestic circumstances in Korea; it is called RCA(Robotic-crane based Construction Automation) system. Climbing hydraulic robot system is a part of RCA system and makes Construction Factory(CF) climb next floor. The controller can control movement needs to be developed for CF safety. Synchronous control the actual field was applied to the controller logic and synchronous control of the process through which the safety has been verified. The purpose of this study that control of climbing hydraulic robot system behavior on real-time, and to improve safety for overall construction automation system through synchronous motion controller.