Robust Speed Control of a Variable-Displacement Hydraulic Motor Considering Saturation Nonlinearity

[+] Author and Article Information
Chul Soo Kim

Technical Research Institute, Hyundai Precision & Ind. Co., Ltd., Seoul, Koreae-mail: chskim@hdpic.co.kr

Chung Oh Lee

Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-gu, Taejon, Koreae-mail: colee@hydro.kaist.ac.kr

J. Dyn. Sys., Meas., Control 122(1), 196-201 (Apr 21, 1997) (6 pages) doi:10.1115/1.482442 History: Received April 21, 1997
Copyright © 2000 by ASME
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Schematic diagram of VDHM control system
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Block diagram of the system
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Block diagram of the conventional control system
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Block diagram of the proposed control system
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Rearranged block diagram
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Comparison of measured and observed torque
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Step response for the change of supply pressure (Ps=0.5Psn)
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Step response for the change of inertia (dotted line: conventional Pl controller, real line: proposed controller)
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Step response for the input change
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Response for the sinusoidal load torque
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Response for the step load torque




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