한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)

한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

공압 굴삭기 시스템의 구축

Development of Pneumatic Excavator System

  • 천세영 (울산대 대학원 기계자동차공학부) ;
  • 이영주 (울산대 대학원 기계자동차공학부) ;
  • 임태형 (울산대 대학원 기계자동차공학부) ;
  • 안태규 (울산대 대학원 기계자동차공학부) ;
  • 양순용 (울산대 기계자동차 공학부)
  • Cheon Y.S. (Mecha.& Automotive Eng. UOU) ;
  • Lee J.Y. (Institude of e-vehicle technology UOU) ;
  • Cho C.H. (Institude of e-vehicle technology UOU) ;
  • Ahn K.T. (Mecha.& Automotive Eng. UOU) ;
  • Yang S.Y. (Mecha. & Automotive Eng. UOU)
  • 발행 : 2006.05.01
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초록

The most bottleneck of development of automation excavator system is the making mathematical linear model. Because of non-linear of control circuit, cylinder, join in hydraulic circuit, and heavy loading so on. Therefore, whatever robust controller is designed, real experimentation is necessary. But, a real experimentation has many risks. The excavator is expensive and large size. Therefore a development of experimentation system is difficult and not safe. Specially, there have a difficulty, because of big noise. So, on experimentation is difficult in school. Manufacturing pneumatic excavator modeland using system identification, design a system transfer function in this paper. Also, planning m-PID Controller using CDM, and examining usefulness applied to actuality model.

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