Abstract
정유압 방식 EHA는 종래의 밸브 제어 방식 전기유압 구동장치와 전혀 다른 특성을 나타낸다. 본 논문에서는 EHA의 비선형 요소를 포함한 수학적 모델을 유도하고 실험적으로 검증하였다. 이 수학적 모델을 근거로 전기 모터로 구동되는 유압 펌프, 파이프 배관 그리고 유압 실린더로 구성되는 EHA의 시물레이션 모델을 개발하여 주요 설계 인자인 모터 토크의 피크치, 펌프의 관성 모멘트 등이 제어 성능에 미치는 영향을 분석하였다. 여기에서 실험 조건은 의도적으로 과도기에서 모터 토크가 포화되도록 선정하였다. 그 결과로서 최대 속도로 동작하는 EHA의 제어 정밀도를 개선하기 위한 설계 조건을 조사하였다. The EHA(Electro-hydrostatic Actuator) reveals completely different characteristics from the conventional valve-controlled Electro-hydraulic actuators. In this paper, its mathematical model including nonlinear elements was derived to be verified by experiments. Based on this, a simulation program was developed for the EHAs consisting of an electric motor driven hydraulic pump, pipe lines and a cylinder. The influence of important design parameters such as peak motor torque and rotational inertia moment of the hydraulic pump on control performance was investigated, where the test condition was intentionally selected so that the motor torque was saturated during the transient phase. As a result, design requirements for improving the control accuracy under full speed operation conditions of the EHAs were investigated.
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