Optimal Design Analysis of Driving Link-Mechanism and Development of Control Performance Estimation Program for Unbalance Heavy-Load Elevation Driving System;

구동 링크기구 최적설계 분석 및 불균형 대부하 고저 구동/제어 성능추정 프로그램 개발

The unbalance heavy-load elevation driving systems are composed of rotating link-mechanism and hydraulic cylinder which actuates elevation and compensates the static unbalance moment of supporting mechanism. Control and compensation of gun driving is very difficult because these mechanism imply highly nonlinearities due to hydraulic fluid characteristics and mechanical rotation of link-mechanism. In this study, through the analysis of manufactured link-mechanism, the optimal link-mechanism design of the elevating system is suggested. Also to estimate the control performance of the unbalance heavy-load elevation servo-control driving system, modeling and simulation of the system are carried out. To prove the reliability of performance estimation program,simulation results are compared with the experimental results. Both results are similar, therefore this program will be helpful to study the control performance improvement of the system.