Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Adaptive Control of a Single Rod Hydraulic Cylinder - Load System under Unknown Nonlinear Friction

  • Lee Myeong-Ho (Department of Mechanical Engineering, Seoul National University of Technology) ;
  • Park Hyung-Bae (Department of Automobile Engineering, Kyunggi Institute of Technology)
  • Published : 2005.05.01
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Abstract

A discrete time model reference adaptive control has been applied in order to compensate the nonlinear friction characteristics in a hydraulic proportional position control system. As nonlinear friction, static and coulomb friction forces are considered and modeled as dead zone and external disturbance respectively. The model reference adaptive control system consists of a cascade combination of the dead zone. external disturbance and linear dynamic block. For adaptive control experiment. the DSP(Digital Signal Processor) board has been interfaced the hydraulic proportional position control system. The experimental results show that the MRAC(Model Reference Adaptive Control) for compensation of static and coulomb friction are very effective.

Keywords

References

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