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안경관(Kyoung Kwan AHN),윤주현(Joo Hyeon YOON),조용래(Yong Rae CHO),김정수(Jung Soo KIM) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
The use of hydraulic systems in industrial applications has become widespread due to their efficiency advantages. In recent years, hybrid actuation system, which combines electric and hydraulic technology in a compact unit, can be adapted to a wide variety of force, speed and torque requirements. Moreover, the hybrid actuation system has dealt with the energy consumption and noise problem existed in the conventional hydraulic system. The new low cost hybrid actuator using DC motor as a power supply unit is considered as a novel linear actuator with various applications. However, this efficiency gain is often accompanied by a degradation of system stability and control problems. In this paper, to realize energy saving hybrid excavator system using hybrid actuator, the design of a robust controller for the new hybrid actuator using quantitative feedback theory (QFT) is presented.
안경관(Kyoung Kwan Ahn),표성만(Sung Man Pyo) Korean Society for Precision Engineering 2004 한국정밀공학회지 Vol.21 No.1
An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3 -link electro¬hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05[mm] can be achieved.