외란관측기를 이용한 유압굴삭기 붐 • 아암 시스템의 궤적추적제어Trajectory Tracking Control of a Boom • Arm System of Hydraulic Excavator Using Disturbance Observer
- Other Titles
- Trajectory Tracking Control of a Boom • Arm System of Hydraulic Excavator Using Disturbance Observer
- Authors
- 조승호; 안건형
- Issue Date
- 2004
- Publisher
- 사단법인 유공압건설기계학회
- Keywords
- Hydraulic Excavator, Disturbance Observer; Trajectory Tracking Control, PI controller; 유압굴삭기; 외란관측기; 궤적추적제어; PI 제어기
- Citation
- 드라이브·컨트롤, v.1, no.1, pp.23 - 30
- Journal Title
- 드라이브·컨트롤
- Volume
- 1
- Number
- 1
- Start Page
- 23
- End Page
- 30
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/26399
- ISSN
- 2671-7972
- Abstract
- This paper deals with the issue of trajectory tracking control of a hydraulic excavator using disturbance observer in order to compensate external disturbances occuring from coupling between attachment, asymmetry of a single rod cylinder, and deadzone of main control valve. Disturbance compensation control system with disturbance observer has been constructed for the boom and arm respectively. Simulation results were compared with experimental results to validate the computer simulation system of hydraulic excavator itself. Computer simulation shows that disturbance compensation control is effective for compensating system nonlinearity and thus improves positioning accuracy and trajectory tracking performance. Steady state error has been decreased by adding PI controller to this control scheme.
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Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
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