디커플링구조에 기초한 수위조절용 가동위어의 동기제어시스템 설계

The Synchronous Control System Design of a Movable Weir for Water Level Adjustment Based on Decoupling Structure

The weir to regulate water level in a tide generation tank is above and below carried by two electric cylinder which are mounted on right and left of weir itself. In this case, a movement difference between right and left cylinder causes unbalance, chattering and jamming of the weir. And then the weir can not be movable. In this study, a synchronous control system is developed to take accurate and quick equilibrium of the weir. The synchronous control system based on the decoupling structure is composed of a reference model, position and synchronous controllers in the respective cylinders. The reference model is used for calculating the decoupled synchronous error and control input for the each cylinder. The position controller of I-PD type is designed in order that the cylinder may follow the reference signal without overshoot and input saturation. And the synchronous controller of P type is designed to achieve stable and accurate synchronization using root locus mothed. Finally, the simulation results show that the weir can be smoothly transferred to the target point under torque disturbance.