전기유압서보시스템의 위치제어기에 관한 연구

Abstract

The statistical linearization method presented by Bootom is applied to LQG/LTR controller Design. Robust nonlinear controller design is discussed on nonlinear plant model with hard nonlinearity such as coulomb friction, saturation. A servo controller which can improve the performance of nonlinear electrohydraulic position control system is designed and implemented. The method is based on statistical linearization method the system with both gaussian and statistical character. obtaining the feedback control law which stabilizes the linear part of the original nonlinear system, and then readjusting the feed back gains using the describing function method to eliminate the limit cycle in the steady-state. The dynamic characteristics and performance of the nonlinear control system with coulomb friction dominantly are analyzed by computer simulation, and compared with those of linear control system.