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Disturbance Observer-Based Force Control of Hydraulic Actuator
Jangho Bae(배장호) 한국기계가공학회 2024 한국기계가공학회지 Vol.23 No.2
A disturbance observer-based force control method was proposed for a hydraulic actuator to enhance force tracking performance. Through an analysis of the linearized force dynamics based on the physical model of the hydraulic actuator, it was confirmed that the bandwidth of the system was constrained by the effect of load dynamics, known as natural velocity feedback. The proposed method incorporates a disturbance observer and a linear load dynamics compensator designed to eliminate the effect of the load dynamics on the force dynamics of the hydraulic actuator. The proposed force controller for the hydraulic actuator was experimentally validated using a single-degree-of-freedom experimental setup. The proposed force controller for the hydraulic actuator provides high performance in hydraulic parameter uncertainty. Another advantage of this approach is that additional sensors are not required for the measurement of state information such as pressure.
진상록(Sangrok Jin),배장호(JangHo Bae),박정애(Jeongae Bak),김홍민(Hongmin Kim),김종원(Jongwon Kim),서태원(TaeWon Seo) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
We developed an underwater robot with tilting thrusters and designed the selective switching controller for stable hovering motion. 6-DOF motion dynamics were divided into two 3-DOF subsystems according to tilting angle, and two PD controllers for each 3-DOF subsystems were designed. Selection logic switched between sub-controllers depending on the error of robot motion in real-time. The selection strategy has a major influence on the state trajectories under selective switching control. This paper compares with three selection strategies which have criterion of maximum value, average, and norm of errors. The characteristics of each strategy are analyzed from simulation results. This work can lay the base for optimal selection strategy.
Strategy for Motor Grader Blade Rotation considering Soil Distribution
이진규(Jinkyu Lee),배장호(Jangho Bae),권오영(Oyoung Kwon),김한얼(Hanul Kim),채솔(Chai Sol),홍대희(Daehie Hong) Korean Society for Precision Engineering 2022 한국정밀공학회지 Vol.39 No.2
Research on the automation of many types of construction equipment, including motor graders, is being actively conducted. In a motor grader cabin, the operator has difficulty observing the working environment because of a constructed field of view. Thus, workers rely on their experience and senses. Further, the working environment of the blade must be observed, and a control algorithm should be created to enable autonomous operation. In this study, a blade rotation control strategy considering the soil distribution was proposed. First, a co-simulation environment was constructed using RecurDyn for multibody dynamics analysis and EDEM for discrete element method simulation, and simulations were performed to determine the correlation between soil distribution and the blade rotation angle. Work quality and blade load were analyzed according to the simulation results. The optimal blade rotation angle according to soil distribution was obtained to develop the strategy for autonomous flattening and scattering work. The proposed control strategy was implemented in a 1/4 full-scale motor grader experimental setup. An experiment to evaluate work quality was conducted to validate the effectiveness of the proposed methods. The experimental results indicated that the proposed strategy effectively performed scattering work.
Strategy for Motor Grader Blade Rotation considering Soil Distribution
이진규(Jinkyu Lee),배장호(Jangho Bae),권오영(Oyoung Kwon),김한얼(Hanul Kim),채솔(Chai Sol),홍대희(Daehie Hong) Korean Society for Precision Engineering 2022 한국정밀공학회지 Vol.39 No.3
Research on the automation of many types of construction equipment, including motor graders, is being actively conducted. In a motor grader cabin, the operator has difficulty observing the working environment because of a constructed field of view. Thus, workers rely on their experience and senses. Further, the working environment of the blade must be observed, and a control algorithm should be created to enable autonomous operation. In this study, a blade rotation control strategy considering the soil distribution was proposed. First, a co-simulation environment was constructed using RecurDyn for multibody dynamics analysis and EDEM for discrete element method simulation, and simulations were performed to determine the correlation between soil distribution and the blade rotation angle. Work quality and blade load were analyzed according to the simulation results. The optimal blade rotation angle according to soil distribution was obtained to develop the strategy for autonomous flattening and scattering work. The proposed control strategy was implemented in a 1/4 full-scale motor grader experimental setup. An experiment to evaluate work quality was conducted to validate the effectiveness of the proposed methods. The experimental results indicated that the proposed strategy effectively performed scattering work.