A Study on the Robust Control of Hydraulic Stabilizing System

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Journal of the Korea Institute of Military Science and Technology 1999;2(2):226-233.

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유압 안정화시스템의 강인제어에 관한 연구

조택동, 서송호, 양상민

¹충남대 기계설계공학과
²국방과학연구소
³충남대 기계설계공학과 대학원

Abstract

A transmitting antenna mounted on the naval vessels can be easily exited by exogenous disturbances such as wave and impact. Gimbal system need for the controller to maintain the robust performance against various modeling uncertainties and disturbances. PI controller, however, cannot supply good robust performance under situation. Thus a robust $H_{infty}$ control scheme is used to ensure a specified dynamic response under above conditions. Gimbal system controlled simplified as 2 DOF system that ignored coordinate co-relations of each direction and hydraulic system is linearly modelled. In this paper, we compared those of simulation to the results of experiment and H$_{infty}$ controller, proposed, showed the good response and stability than PI controller.

Key Words: $H_{infty}$ control, sensitivity function, complementary function, single rod hydraulic system