Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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
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Abstract

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.

본 논문은 소형 6축 가진기에 적용되는 유압 실린더의 위치제어를 위한 제어기 설계 방법을 제안하였다. 먼저, 가진기의 움직임을 정확히 제어하기 위해서 각각의 유압 실린더의 정확한 위치 제어가 필요하다. 따라서 본 논문에서는 FRF(Frequency Response Function)을 적용한 시스템 인식 기법을 이용하여 유압 실린더의 위치 제어를 위한 제어기 알고리즘을 제안하였다. FRF는 액튜에이터의 입력에 따른 출력의 거동을 확인한 후, 전달함수를 계산하고 최종적으로 새로운 제어 입력을 생성하는 방법이다. 최종 결과는 PID 제어기와 비교하여 성능을 확인하였다.

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References

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