파일럿 집광로봇 유압 제어시스템 특성시험

Abstract

The hydraulic system is applied to the pilot mining robot for the actuator operation. The hydraulic actuators are controlled by solenoid valves to control the oil flow. The hysteresis phenomena occurs in hydraulic control system, because the solenoid valve owns the magnetic material. The hysteresis loop is observed as the randomness of the change and the characteristics according to the input history and the directivity. This paper proposes the hydraulic valve driver with enhanced resolution and the mathematically modeling of the hysteresis loop as a method for improving the control performance of the system having a hysteresis characteristic. Particularly, the preisach model is proposed to the mathematically modeling of hysteresis loop.he solenoid valve owns the magnetic material. The hysteresis loop is observed as the randomness of the change and the characteristics according to the input history and the directivity. This paper proposes the hydraulic valve driver with enhanced resolution and the mathematically modeling of the hysteresis loop as a method for improving the control performance of the system having a hysteresis characteristic. Particularly, the preisach model is proposed to the mathematically modeling of hysteresis loop.