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불확실성을 포함한 전기 유압 액츄에이터 시스템의 적응 백스테핑 제어
박민규(M. G. Park),김한메(H. M. Kim),박성환(S. H. Park),김종식(J. S. Kim) 유공압건설기계학회 2008 유공압건설기계학회 학술대회논문집 Vol.2008 No.10
In this paper, the variation of the effective bulk modulus, friction, and external disturbance are considered as uncertainties of electro-hydrostatic actuator(EHA) systems. To solve the problems due to these system uncertainties, an adaptive back-stepping control(ABSC) scheme is designed. However, this control scheme may have performance limitation due to system uncertainties not estimated. Therefore, to overcome that problem, fuzzy-neural network(FNN) algorithm is used to reject system uncertainties. The effectiveness of the ABSC system with the FNN was compared to that of the ABSC system without the FNN in a computer simulation.
최정주(J.J.Choi),한성익(S.I.Han),김한메(H.M.Kim),김종식(J.S.Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
Friction phenomenon can be described as two parts which are pre-sliding and sliding regions. In motion of<br/> the sliding region, friction forces depend on the velocity of the system and are known as Coulomb, stick-slip,<br/> stribeck effect and viscous friction. The pre-sliding region, which is before breakaway, depends on the<br/> position of the system. The motion of friction in the sliding region can be described as the LuGre model. But<br/> the pre-sliding motion of friction, which has hysteresis characteristics in general, is not known widely.<br/> Therefore, an improved friction model, which can describe the motion of friction in the pre-sliding region, is<br/> proposed in this paper. And simulation and experimental results show the effectiveness of the proposed<br/> friction model for precise tracking control systems.