:: ICCAS 2015 ::

TA05		[OS] Electro-Hydraulic System
Time : 09:10~10:40 Room : 105		Chair : Kyoung Kwan Ahn (University of Ulsan, )



09:10~09:25	TA05-1

Adaptive Output Feedback Control of an Electro-hydraulic System
Dang Xuan Ba, Ahn Kyoung Kwan(University of Ulsan, Korea, Republic of )

In this paper, an advanced nonlinear method – adaptive output feedback (AOF) controller - is presented for position tracking control problem of a pump-controlled Electro Hydraulic System (EHS). The system uncertainties including uncertain parameters and external disturbances are covered by an adaptive law while all nonlinearities are compensated by a modified output-feedback techniques. For supplying necessary information to the controller, mathematical model of the EHS is derived in which a view of certain, an uncertain and nonlinear terms is clearly represented. The control input is then syn



09:25~09:40	TA05-2

Development of the Flexible Observation System for a Virtual Reality Excavator Using the Head Tracking System
Quang Hoan Le(university of ulsan, Korea, Republic of ), Soon-Yong Yang(university of Ulsan, Korea, Republic of ), Young-Man Jeong, Chi Thanh Nguyen(university of ulsan, Korea, Republic of ), Jong-Il Bae(Pukyong University, Korea, Republic of )

Operating excavator on the risk surroundings is not safe for human to control on site. Consequently, automatic excavator called Field Robot has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environments. This paper presents the study on remote control system for the Field Robot and augmented reality vision for user using head tracker system. The design of the remote control system that consist Remote Station and Filed Robot. In Remote Station, user can send the control commands through wireless communication.



09:40~09:55	TA05-3

Time Delay Control of a Pump-controlled Electro-hydraulic Actuator
Maolin Jin(Research Institute of Industrial Science and Technology (RIST), Korea, Republic of ), Jinwook Kim(Korea Electrotechnology Research Institute (KERI), Korea, Republic of ), Dang Xuan Ba, Hyung Gyu Park, Kyoung Kwan Ahn(University of Ulsan, Korea, Republic of ), Jong Il Yoon(Korea Construction Equipment Technology Institute, Korea, Republic of )

This paper presents an accurate position control for a pump-controlled electro-hydraulic actuator (EHA) using time-delay estimation (TDE). In this paper, the TDE technique is used to estimate nonlinear terms of EHA, which is a third order system. The measured signal of linear encoder, and pressure of the EHA are used to implement the TDE technique. The effectiveness of the proposed controller is verified through experiment using EHA test bench. The proposed controller shows better tracking performance compared with PID controller.



09:55~10:10	TA05-4

Performance improvement of electro-hydraulic servo valve based on pole placement
Kim Ji-U, Yun So-Nam, Jung Eun-A, Tanaka Yoshito(Korea Institute of Machinery & Material, Korea, Republic of )

Performance of servo valve has already been analyzed and improved in the S-domain which is a kind of classical control. In this paper, performance improvement of servo valve is conducted by pole placement that is a method of modern control. Consequently, controllability and stability of suggested model is confirmed and performance improvement is achieved. Furthermore, the research about effect of dynamic parameters on dynamic characteristics and equations is needed



10:10~10:25	TA05-5

Grey Prediction Based Adaptive Sliding Mode Control for Electro-Hydraulic Actuator System
Thanh Liem Dao, Kyoung Kwan Ahn(University of Ulsan, Korea, Republic of )

In this study, an adaptive sliding mode controller with PID tuning method based on the grey predictor (SMCGP) is proposed to control an EHA system. The simple test rig using the EHA and MR fluid damper was setup for the investigation. In the SMCGP, the PID controller is employed to approximate the sliding-mode equivalent control along the direction that makes the sliding-mode asymptotically stable. Furthermore, the fuzzy grey predictor (FGP) takes part in estimating the the system output in the near future to optimize the controller parameters in advance.