로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제11권2호
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  • Pages.92-99
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  • 2016
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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근사적 모델 역변환을 활용한 전기-유압 액추에이터의 적응 위치 제어기 설계

Adaptive Position Controller Design of Electro-hydraulic Actuator Using Approximate Model Inversion

  • 투고 : 2016.03.14
  • 심사 : 2016.04.07
  • 발행 : 2016.05.31
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초록

An electro-hydraulic actuator (EHA) is widely used in industrial motion systems and the increasing bandwidth of EHA position control is important issue. The model-inverse feedforward controller is known to extend the bandwidth of system. When the system has non-minimum phase (NMP) zeros, direct model inversion makes system unstable. To overcome this problem, an approximate model-inverse method is used. A representative approximate model inversion method is zero phase error tracking control (ZPETC). However, if zeros locate right half plane of z-plane, the approximate inverse model amplifies the high-frequency response. In this paper, to solve the problem of ZPETC, an adaptive model-inverse control is proposed. The adaptive algorithm updates feedforward term in real-time. The effectiveness of the proposed adaptive model-inverse position control strategy is verified by comparison with typical proportional-integral (PI) control and feedforward control by experiments. As a result, the proposed adaptive controller extends the bandwidth of EHA position control.

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참고문헌

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