자기센서를 이용한 위치제어용 스트로크 측정 실린더 개발(I)

A Development of Stroke Sensing Cylinder for Position Control Using Magnetic Sensor (I)

We developed a part of stroke sensing cylinder for position control of automatic excavator and its measurement system. In this paper, for development of stroke sensing cylinder, we consist of 2-axis control instrument system with Hall sensor. A performance of piston rod with magnetic scales is evaluated by the developed measurement system. Furthermore, the position control for good performance of instrument system is achieved by a sliding mode control which is a new method diminishing the chattering in that control by setting 2-dead band along the swtching line. The unknown parameters for sliding mode control are estimated by the signal compression method.