ER 밸브 작동기를 이용한 3 자유도 실린더 시스템의 위치제어

초록

This paper presents the position control of a closed-loop cylinder system using ER valve actuators. Following the field-dependent pressure analysis of the ER valve actuators on the basis of Bingham model of ER fluid, a 3 dof cylinder system having heave, roll and pitch motions is proposed. The governing equation of motion is derived, and a sliding mode controller is designed by considering system uncertainties such as varying load conditions. Tracking control results for sinusoidal trajectory are presented via computer simulations.