3축 유압 도로 시뮬레이터의 정량적 피드백 제어 시스템 설계

Design of Quantitative Feedback Control System for the Three Axes Hydraulic Road Simulator

  • 김진완 (전남대학교 대학원 기계공학과) ;
  • 현동길 (전남대학교 대학원 기계공학과) ;
  • 김영배 (전남대학교 기계시스템공학부)
  • 발행 : 2008.03.01


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


다중입출력;정량적 피드백 이론;유압 도로 시뮬레이터;강인 제어;불확실한 플랜트


  1. Chait, Y. and Hollot, C.V., 1990, 'A Comparison Between H $\infty$ Methods and QFT for a Single-loop Plant with Both Parametric Uncertainty and Performance Specifications,' Recent Development in Quantitative Feedback Theory, ASME WAM Config., O.D.I. Nwokah,ed., pp.33-40
  2. Horowitz, I.M., 1963, 'Synthesis of Feedback Systems,' Academic Press, New York
  3. Horowitz, I.M. and Sidi, M., 1972, 'Synthesis of Feedback Systems with Large Plant Ignorance for Prescribed Time-Domain Tolerance,' Int. J. Control, 16(2), pp. 287-309
  4. Shaked, U., Horowitz, I.M. and Glode, S., 1976, 'Synthesis of Multivariable Basically Non-interacting Systems with Significant Plant Uncertainty,' Automatica, Vol.12, pp 61-71
  5. Horowitz, I.M., 1982, 'Improved Design Technique for Uncertain Multi Input Multi Output Feedback Systems, 'Int. J. Control, Vol.36, No.6, pp.977-988
  6. Horowitz, I.M., Loecher, C.Y., 1981, 'Design of a 3×3 multivariable feedback system with large plant uncertainty,' Int. J. Control, 33:4, pp. 677-699
  7. Yaniv, O. and Horowitz, I.M., 1986, 'A Quantitative Design Method for MIMO Linear Feedback Systems Having Uncertain Plants,' Int. J. Control, 43, pp.402-421
  8. Yaniv, O., 1999, 'Quantitative Feedback Design of Linear and Nonlinear Control Systems,' Kluwer Academic Publishers
  9. D'Azzo, J.J and Houpis, C.H., 1988, 'Linear Control System Analysis,' McGraw-Hill Inc
  10. Horowitz, I.M., 1992, 'Quantitative Feedback Theory(QFT).' QFT Publication, 4470 Grinnell Ave., Boulder, Colorado, 80303
  11. Borghesani, C., 1993, 'Computer Aided Design of Robust Control Systems Using the Quantitative Feedback Theory,' M.S. Thesis, Mechanical Engineering Department, University of Massachusetts, Amherst, MA
  12. Chait, Y. and Yaniv, O., 1993-2003, 'Quantitative Feedback Theory Toolbox User's Guide,' Terasoft Inc.
  13. Park, M.S., 1994, 'A New Approach to Multivariable Quantitative Feedback Theory,' Ph.D. Thesis, Uni. of Massachusetts, Amherst, MA.
  14. Park, M.S. and Lee, J.W., 1998, 'Direct Multivariable Quantitative Feedback Theory,' Trans. of the KSME(A) Vol.22 No.3, pp.562-568
  15. Ziegler, J.G., Nichols, N.B., 1942, 'Optimum Settings for Automatic Controllers', ASME Trans. 64, pp.759-68
  16. Kim, J.W., Xuan, D.J., Kim, Y.B., 2007, 'Design of Force Control System for a Hydraulic Road Simulator using Quantitative Feedback Theory', Trans. of the KSME(A), Vol.31, No.11, pp.1069-1076