한국기계가공학회지 (Journal of the Korean Society of Manufacturing Process Engineers)

  • 제14권3호
  • /
  • Pages.57-64
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  • 2015
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  • 1598-6721(pISSN)
  • /
  • 2288-0771(eISSN)
한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
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부하 변동 공압계의 모델 기준 적응제어

Model Reference Adaptive Control of the Pneumatic System with Load Variation

  • 오현일 (금오공과대학교 기계시스템공학과) ;
  • 김인수 (금오공과대학교 기계시스템공학과) ;
  • 김기범 (금오공과대학교 기계시스템공학과)
  • Oh, Hyeon-il (Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Kim, In-soo (Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Kim, Gi-bum (Mechanical System Engineering, Kumoh National Institute of Technology)
  • 투고 : 2015.03.02
  • 심사 : 2015.05.18
  • 발행 : 2015.06.30
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초록

In this paper, a model reference adaptive control (MRAC) scheme is applied for the precise and robust motion control of a pneumatic system with load variation. The reference model for MRAC is designed systematically using linear quadratic Gaussian control with loop transfer recovery (LQG/LTR). The sigmoid function of inverse velocity is used to compensate for the nonlinear friction force between the sliding parts. The experimental results show that MRAC effectively overcame the limit of the PID controller when there was unknown disturbance, including abrupt load variation and model uncertainty in the pneumatic control system.

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참고문헌

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