A Position Control of EHA Systems using Adaptive PID Sliding Mode Control Scheme

적응PID 슬라이딩 모드 제어기법을 적용한 EHA 시스템의 위치제어

  • Lee, Ji-Min (School of Mechanical Engineering, Graduate School, Pusan National University) ;
  • Park, Sung-Hwan (School of Mechanical Engineering, Pusan National University) ;
  • Park, Min-Gyu (School of Mechanical Engineering, Graduate School, Pusan National University) ;
  • Kim, Jong-Shik (School of Mechanical Engineering, Pusan National University)
  • 이지민 (부산대학교 대학원 기계공학부) ;
  • 박성환 (부산대학교 기계공학부) ;
  • 박민규 (부산대학교 대학원 기계공학부) ;
  • 김종식 (부산대학교 기계공학부)
  • Received : 2013.02.08
  • Accepted : 2013.05.29
  • Published : 2013.08.31


An adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performance and robustness of the two control systems are compared by experiment. It was found that the adaptive PID sliding mode control system has better performance and is more robust to system uncertainties than the optimal anti-windup PID control system.


Supported by : 부산대학교


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