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초록
A position tracking and flatness controller with disturbance observer (DOB) is proposed in hydraulic servo systems (HSSs). In this paper, we assume that the disturbance is a biased sinusoidal signal with unknown frequency. DOB is designed in the form of 2nd high pass filter to estimate the disturbance. The nonlinear controller is designed to compensate the estimation error of the disturbance and to track the desired position and load pressure as a near IO linearizing inner-loop load pressure controller and a feedback plus feedforward outer-loop position controller. The desired load pressure is designed using differential flatness property of the HSS mechanical subsystem. The performance of the proposed method is validated via simulations.
키워드
Disturbance observer; Flatness; Hydraulic actuator; Controllers; High pass filters; Hydraulic actuators; Hydraulic servomechanisms; Servomechanisms; Biased sinusoidal signals; Differential flatness; Disturbance observer; Flatness; Hydraulic servo system; Mechanical sub-systems; Non-linear controllers; Position controller; Tracking (position)
- 제목
- Position tracking and flatness controller with disturbance observer in hydraulic servo systems
- 저자
- Kim, Wonhee; Shin, Donghoon; Won, Daehee; Chung, Chung Choo
- 발행일
- 2011-10
- 유형
- Conference Paper
- 저널명
- Proceedings of the SICE Annual Conference
- 페이지
- 745 ~ 749