목차

1. 서론 ························································································ 1
1.1. 연구 배경 및 목적 ····················································································· 1
1.2. 연구 현황 ········································································································ 2
1.3. 본문의 구성 ··································································································· 3
2. 전기 정유압 로터리 액추에이터 ·········································· 4
2.1. 유압 매니퓰레이터 ······················································································ 4
2.2. 유압시스템 개요 ·························································································· 6
2.3. 전기 정유압 로터리 액추에이터 ·························································· 7
3. 제어 알고리즘 ······································································ 11
3.1. 제어기 설계 ·································································································· 11
3.2. PID Controller ··························································································· 12
3.3. Sliding Mode Controller ······································································· 13
3.4. Adaptive PID Controller ······································································ 15
3.4.1. Sliding Surface ··························································································· 15
3.4.2. Adaptive PID Controller ······································································· 18
3.4.3. Gain tuning law ·························································································· 18
3.4.4. Stability ·········································································································· 20
4. 시험장치구성 ······································································· 22
5. 시험결과 ··············································································· 25
5.1. Case.1 ············································································································· 25
5.2. Case.2 ············································································································· 30
5.3. Case.3 ············································································································· 33
6. 결론 ······················································································· 36
Reference ····················································································· 37