서지주요정보
가변 유압 모터를 이용한 전기유압식 속도 서보 시스템의 동특성 해석및 제어 = Dynamic analysis and control of an electrohydraulic speed servo system using variable displacement motor
서명 / 저자 가변 유압 모터를 이용한 전기유압식 속도 서보 시스템의 동특성 해석및 제어 = Dynamic analysis and control of an electrohydraulic speed servo system using variable displacement motor / 김철수.
저자명 김철수 ; Kim, Chul-Soo
발행사항 [대전 : 한국과학기술원, 1996].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8006174

소장위치/청구기호

학술문화관(문화관) 보존서고

DME 96001

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

Conventional hydraulic drive systems are generally of two types; those with valve resistance control and those with pump displacement control.In valve controlled systems, the pressure drop due to the oil flow through a valve orifice causes an energy loss and a decrease in system efficiency. In pump controlled systems, the increase in oil volume in the hydraulic line results in a relatively long hydraulic time constant due to the compressibility of the oil. A recently introduced displacement control of an overcentered variable displacement hydraulic motor(VDHM) is noted for its small energy loss, fast dynamic response and energy recovery capability. Although VDHM control system has many good aspects, the dynamic characteristics of this system are complex and nonlinear. This system may be expressed simply as double integrater and easily becomes unstable. This necessitates an accurate evaluation of dynamic characteristics and anlysis of the system stability. The objective of this thesis is to provide the basis for the design and control of the VDHM speed servo system. To achieve this, a nonlinear model was formulated and verified. Upon this model, theoretical investigations were made for the analysis of the system dynamics, stability and design of robust controller. The results of theoretical analysis were verified by a series of experiments. This thesis is composed of three main parts. Firstly, the effects of the parameter variation were investigated by parameter sensitivity analysis. The results of analysis show that supply pressure, inertia load and motor displacement are most critical parameters, and parameters related to swash plate positioning dynamics become important for the applications requiring especially fast dynamic response. Secondly, the stability characteristics was analyzed through investigation of closed loop pole location for single and double loop control systems. The effects of inertia load, inner and outer loop gains to the system stability were investigated, and inner loop was found to increase the system damping. Finally, a feedforward control with load torque observer was suggested to obtain robust speed control despite torque disturbances and variation of system parameters such as inertia load and supply pressure. The effectiveness of the proposed controller was verified by comparing with the conventional cascade PI controller.

서지기타정보

서지기타정보
청구기호 {DME 96001
형태사항 x, 88 p. : 삽도 ; 25 cm
언어 한국어
일반주기 저자명의 영문표기 : Chul-Soo Kim
지도교수의 한글표기 : 이정오
지도교수의 영문표기 : Chung-Oh Lee
학위논문 학위논문(박사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 83-88
주제 속도서보
가변유압모터
민감도해석
안정성해석
부하토오크 관측기
Speed servo
Variable Displacement Hydraulic Motor
Sensitivity Analysis
Stability Analysis
Load torque observer
QR CODE qr code