Design of Force Control System for a Hydraulic Road Simulator Using Quantitative Feedback Theory

정량적 피드백 이론을 이용한 유압 로드 시뮬레이터에 관한 힘 제어계 설계

  • 김진완 (전남대학교 대학원 기계학과) ;
  • 현동길 (전남대학교 대학원 기계공학과) ;
  • 김영배 (전남대학교 기계시스템공학부)
  • Published : 2007.11.01


This paper presents the road simulator control technology for reproducing the road input signal to implement the real road data. The simulator consists of the hydraulic pump, servo valve, hydraulic actuator and its control equipment. The QFT(Quantitative Feedback Theory) is utilized to control the simulator effectively. The control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) for a parametric uncertain model. A force controller is designed to communicate the control signal between simulator and digital controller. Tracking specification is satisfied with upper and lower bound tolerances on the steep response of the system to the reference signal. The efficacy of the QFT force controller is verified through the numerical simulation, in which combined dynamics and actuation of the hydraulic servo system are tested. The simulation results show that the proposed control technique works well under uncertain hydraulic plant system. The conventional software (Labview) is used to make up for the real controller in the real-time basis, and the experimental works show that the proposed algorithm works well for a single road simulator.


Hydraulic Road Simulator;Force Control System;Hydraulic Servo System;Quantitative Feedback Theory(QFT);Robust Control;Uncertain Plant


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