FRF based Position Controller Design through System Identification for A Hydraulic Cylinder

유압실린더의 위치제어를 위한 시스템 인식을 통한 FRF 기반의 제어기 설계 방법

  • Seo, Hyoung Kyu (Dept. of Mechanical Design and Robot Engineering, Seoul Nat’l Univ. of Science and Technology) ;
  • Kim, Dong Hwan (Dept. of Mechanical Design and Robot Engineering, Seoul Nat’l Univ. of Science and Technology) ;
  • Park, Jong Won (Reliability Assessment Center, Korea Institute of Machinery and Materials)
  • 서형규 (서울과학기술대학교 기계설계로봇공학과) ;
  • 김동환 (서울과학기술대학교 기계설계로봇공학과) ;
  • 박종원 (한국기계연구원)
  • Received : 2015.02.17
  • Accepted : 2015.08.10
  • Published : 2015.11.01


In this study, we have focused on the design of a controller and an operating program for the operation of the hydraulic actuators used in a shaker. To control the motion of the shaker accurately, the position of each hydraulic cylinder should be controlled precisely even under an uncertain environment. For this purpose, we have suggested a control algorithm using an FRF (frequency response function) based control which senses the behavior of the actuator in advance, calculates a transfer function through the system identification method, and provides the final control input. The experimental results on the performance of this system were compared with that of a simple PID control algorithm.


System Identification;FRF;DFT;Hydraulic Cylinder


Supported by : 한국기계연구원, 중기청


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