# 3축 유압 도로 시뮬레이터의 정량적 피드백 제어 시스템 설계

• 김진완 (전남대학교 대학원 기계공학과) ;
• 현동길 (전남대학교 대학원 기계공학과) ;
• 김영배 (전남대학교 기계시스템공학부)
• Published : 2008.03.01
• 125 7

#### Abstract

This paper presents design of the quantitative feedback control system of the three axes hydraulic road simulator with respect to the dummy wheel for uncertain multiple input-output(MIMO) feedback systems. This simulator has the uncertain parameters such as fluid compressibility, fluid leakage, electrical servo components and nonlinear mechanical connections. This works have reproduced the random input signal to implement the real road vibration's data in the lab. The replaced $m^2$ MISO equivalent control systems satisfied the design specifications of the original $m^*m$ MIMO control system and developed the mathematical method using quantitative feedback theory based on schauder's fixed point theorem. This control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) having the minimum bandwidth for parameters of uncertain plant. The efficacy of the designed controller is verified through the dynamic simulation with combined hydraulic model and Adams simulator model. The Matlab simulation results to connect with Adams simulator model show that the proposed control technique works well under uncertain hydraulic plant system. The designed control system has satisfied robust performance with stability bounds, tracking bounds and disturbance. The Hydraulic road simulator consists of the specimen, hydraulic pump, servo valve, hydraulic actuator and its control equipments

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