Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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Position Control of an Electro-hydraulic Servo System with Sliding Mode

전기유압 서보시스템의 슬라이딩 모드 위치제어

  • Huh, Jun Young (School of Mechatronic Engineering, Korea University of Technology and Education)
  • Received : 2021.06.04
  • Accepted : 2021.07.21
  • Published : 2021.09.01
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Abstract

The variable structure controller has the characteristic that while in sliding mode, the system moves along the switching plane in the vicinity of the switching plane, so it is robust to the parameter fluctuations of the plant. However, a controller based on a variable structure may not meet the desired performance when it is commanded to track any input or exposed to disturbances. To solve this problem, a sliding mode controller based on the IVSC approach excluding an integrator is proposed in this study. The proposed sliding mode control was applied to the position control of a hydraulic cylinder piston. The sliding plane was determined by the pole placement and the control input was designed to ensure the existence of the sliding mode. The feasibility of the modeling and controller was reviewed by comparing it with a conventional proportional control through computer simulation using MATLAB software and experiment in the presence of significant plant parameter fluctuations and disturbances.

Keywords

Acknowledgement

이 연구는 2019년도 한국기술교육대학교 교수 교육연구진흥과제 지원에 의하여 수행되었음을 밝힙니다. 한편, 부경대학교 이일영 교수 Lab.의 Sliding Mode Control 주말 세미나(2016년 9월 ~ 2017년 6월)에 참여한 결과입니다.

References

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