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Sliding Mode Control with Velocity Feedforward Gain of a Pneumatic Motor

공압모터의 속도 전향이득을 갖는 슬라이딩 모드 제어

  • 김근묵 (아주자동차대학 자동차학부) ;
  • 강이석 (충남대학교 기계설계공학과)
  • Published : 2006.11.01

Abstract

In this study, the performance of the tracking control of a pneumatic servo motor driven position control system using sliding mode is investigated. It is usually quite difficult to obtain precise tracking control of a pneumatic servo motor driven position control system because of the nonlinear deadband and stick-slip friction of the proportional valve. Therefore, a continuous sliding mode controller with velocity feedforward gain is proposed. Experimental results show that the tracking accurracy can be remarkably improved by adding a proper velocity feedforward term to continuous sliding mode controller.

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