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비례방향밸브를 이용한 공압 시스템의 힘제어에 대한 연구
박서준(S. J. Park),김성탁(S. T. Kim),곽경신(K. S. Gwak),안경관(K. K. Ahn) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.11
In hydraulic and pneumatic systems, there are factors that become obstacles during control, such as nonlinearity, parameter uncertainty, and disturbance. Existing PID controllers are simple and have excellent performance, but their control performance varies due to disturbance caused by fixed gain and are not suitable for controlling nonlinearity and uncertainty. In this paper, to compensate for this, the control performance will be compared by applying control using sliding mode control to hardware. In addition, when a switching gain is selected large to compensate for uncertainty which is a disadvantage of sliding mode control, the chatting is observed and compensated for disturbance, so the gain is selected small, and the control performance is improved.