제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권9호
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  • Pages.863-868
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  • 2011
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Motion Synchronization of Control for Multi Electro-Hydraulic Actuators

  • Kim, Seong-Hoon (School of Mechanical Engineering, Pusan National University) ;
  • Seo, Jeong-Uk (School of Mechanical Engineering, Pusan National University) ;
  • Yoon, Young-Won (School of Mechanical Engineering, Pusan National University) ;
  • Park, Myeong-Kwan (School of Mechanical Engineering, Pusan National University)
  • 투고 : 2011.04.18
  • 심사 : 2011.07.20
  • 발행 : 2011.09.01
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초록

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 ${\pm}2\;mm$.

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참고문헌

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