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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.4
- 수록면
- 157 - 163 (7page)
이용수
초록· 키워드
오류제보하기
In this paper, a robust MRAC (model reference adaptive control) scheme is applied to control an electrohydraulic positioning system under various loads. The inverse dead-zone compensator in the control system cancels out the dead-zone response, and an integrator added to the controller provides good position-tracking ability.
LQG/LTR (linear quadratic Gaussian control with loop transfer recovery) closed-loop model is used as the reference model for learning the MRAC system. LQG/LTR provides a systematic technique to design the linear controller that optimizes the objective function using some compromise between the control effort and the system performance in the frequency domain.
Different external load tests are performed to investigate the effectiveness of the designed MRAC system in real time. The experimental results show that the tracking performance of the proposed system is highly accurate,which offers considerable robustness even with a large change in the load.
LQG/LTR (linear quadratic Gaussian control with loop transfer recovery) closed-loop model is used as the reference model for learning the MRAC system. LQG/LTR provides a systematic technique to design the linear controller that optimizes the objective function using some compromise between the control effort and the system performance in the frequency domain.
Different external load tests are performed to investigate the effectiveness of the designed MRAC system in real time. The experimental results show that the tracking performance of the proposed system is highly accurate,which offers considerable robustness even with a large change in the load.
목차
ABSTRACT
1. 서론
2. 시스템 모델링
3. 적응제어
4. 제어 시뮬레이션 및 실험
5. 결론
References
참고문헌 (9)
참고문헌 신청
1. [학술지(정기간행물)] - Lee, I. Y. / 2009 / Modeling and Identification of Proportional Control Valve / Trans. of The Korea Fluid Power Systems Society 6 (3) : 10 ~ 17
2. [학술대회논문] - Yoon, S. N. / 2009 / Study on the Performance Evaluation of a Proportional Pressure Control Valve / Proceedings of the KSME : 931 ~ 936
3. [학술지(정기간행물)] - Gamble, J. B. / 1994 / Comparison of Sliding Mode Control with State feedback and PID Control Applied to a Proportional Solenoid Valve / ASME Fluid Power Systems and Technology : 51 ~ 58
4. [학술지(정기간행물)] - 김기범 / 2011 / 비례 솔레노이드 밸브의 운동해석 및 LQG/LTR 제어 / 대한기계학회논문집 A 35 (12) : 1607 ~ 1612
5. [학술지(정기간행물)] - Cho, S. H. / 2011 / Position control of high performance hydrostatic actuation system using a simple adaptive control(SAC)method / mechatronics 21 : 109 ~ 115
2. [학술대회논문] - Yoon, S. N. / 2009 / Study on the Performance Evaluation of a Proportional Pressure Control Valve / Proceedings of the KSME : 931 ~ 936
3. [학술지(정기간행물)] - Gamble, J. B. / 1994 / Comparison of Sliding Mode Control with State feedback and PID Control Applied to a Proportional Solenoid Valve / ASME Fluid Power Systems and Technology : 51 ~ 58
4. [학술지(정기간행물)] - 김기범 / 2011 / 비례 솔레노이드 밸브의 운동해석 및 LQG/LTR 제어 / 대한기계학회논문집 A 35 (12) : 1607 ~ 1612
5. [학술지(정기간행물)] - Cho, S. H. / 2011 / Position control of high performance hydrostatic actuation system using a simple adaptive control(SAC)method / mechatronics 21 : 109 ~ 115
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UCI(KEPA) : I410-ECN-0101-2015-550-001436244