3축 유압 도로 시뮬레이터의 정량적 피드백 제어 시스템 설계 (Design of Quantitative Feedback Control System for the Three Axes Hydraulic Road Simulator)

서지정보

· 발행기관 : 대한기계학회
· 수록지 정보 : 대한기계학회논문집 A / 32권 / 3호 / 280 ~ 289페이지
· 저자명 : 김진완, 김영배, 현동길

초록

This paper presents design of the quantitative feedback control system of the three axes hydraulic road simulator with respect to the dummy wheel for uncertain multiple input-output(MIMO) feedback systems. This simulator has the uncertain parameters such as fluid compressibility, fluid leakage, electrical servo components and nonlinear mechanical connections. This works have reproduced the random input signal to implement the real road vibrations data in the lab. The replaced m2 MISO equivalent control systems satisfied the design specifications of the original m*m MIMO control system and developed the mathematical method using quantitative feedback theory based on schauders fixed point theorem. This control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) having the minimum bandwidth for parameters of uncertain plant. The efficacy of the designed controller is verified through the dynamic simulation with combined hydraulic model and Adams simulator model. The Matlab simulation results to connect with Adams simulator model show that the proposed control technique works well under uncertain hydraulic plant system. The designed control system has satisfied robust performance with stability bounds, tracking bounds and disturbance. The Hydraulic road simulator consists of the specimen, hydraulic pump, servo valve, hydraulic actuator and its control equipments

영어초록

This paper presents design of the quantitative feedback control system of the three axes hydraulic road simulator with respect to the dummy wheel for uncertain multiple input-output(MIMO) feedback systems. This simulator has the uncertain parameters such as fluid compressibility, fluid leakage, electrical servo components and nonlinear mechanical connections. This works have reproduced the random input signal to implement the real road vibrations data in the lab. The replaced m2 MISO equivalent control systems satisfied the design specifications of the original m*m MIMO control system and developed the mathematical method using quantitative feedback theory based on schauders fixed point theorem. This control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) having the minimum bandwidth for parameters of uncertain plant. The efficacy of the designed controller is verified through the dynamic simulation with combined hydraulic model and Adams simulator model. The Matlab simulation results to connect with Adams simulator model show that the proposed control technique works well under uncertain hydraulic plant system. The designed control system has satisfied robust performance with stability bounds, tracking bounds and disturbance. The Hydraulic road simulator consists of the specimen, hydraulic pump, servo valve, hydraulic actuator and its control equipments

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