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하이브리드 굴삭기의 선회 속도 제어에 관한 연구

Title
하이브리드 굴삭기의 선회 속도 제어에 관한 연구
Other Titles
A study on swing speed control of hybrid excavator
Author
진기창
Alternative Author(s)
Jin, Kichang
Advisor(s)
이형철
Issue Date
2011-02
Publisher
한양대학교
Degree
Master
Abstract
This study presents a novel control method for swing speed control of a hybrid excavator with suppressing the swing vibration. For control design, dynamic model of typical swing motions of the hybrid excavator is derived using a system identification technique. Because the system states of the obtained model are not directly measurable, a sliding mode observer (SMO) is designed to estimate the system states. A sliding mode controller (SMC) is designed to provide robust tracking performance against model uncertainties, nonlinearities, and disturbance caused by changes in the working conditions. A complicated mathematical model of the hybrid excavator which captures detailed mechanical, electrical, and hydraulic characteristics is developed for system analysis and simulation. The feasibility and effectiveness of the proposed control method are verified by simulations and actual tests in comparison with a conventional PI-IP controller.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/139531http://hanyang.dcollection.net/common/orgView/200000416981
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > ELECTRICAL ENGINEERING(전기공학과) > Theses (Master)
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