Proceedings of the Korean Institute of Navigation and Port Research Conference (한국항해항만학회:학술대회논문집)

Korean Institute of Navigation and Port Research (한국항해항만학회)
권호 표지

Stability Analysis and Control of the Electro-Hydraul System for Steering of the Unmaned Container Transporter(UCT)

무인 컨테이너 운반차량의 조향을 위한 전기-유압 시스템의 안정도 분석 및 해석

  • 최재영 (부산대학교 지능기계공학과 대학원) ;
  • 윤영진 (부산대학교 지능기계공학과 대학원) ;
  • 허남 (부산대학교 지능기계공학과 대학원) ;
  • 이영진 (부산대학교 지능기계공학과 대학원) ;
  • 이만형 (부산대학교 기계공학부)
  • Published : 1999.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper present the nonlinear control and the Lyapunov analysis of the nonlinear electro-hydraulic system for steering control of UCT. Electro-hydraulic system itself has the high nonlinearities arisen from the nonlinear characteristics of the pressure-fluid flow in valve and friction in cylinder. These nonlinearities are unmodeled terms in the transfer function. This paper presents the system modeling, analysis of stability based on the Lyapunov function and simulation of the nonlinear hydraulic servo system.

Keywords