Stabilization enhancement method of drive unit mounted on moving equipment and system, that moving equipment

The present invention relates to a method to enhance stabilization performance of a driving device mounted on moving equipment, a system for the same, and the moving equipment thereof and, more specifically, to a method to enhance stabilization performance considering the optimum control performance of an LQ controller and the robustness of a sliding mode controller, a system for the same, and moving equipment thereof. According to the present invention, the method to enhance stabilization performance of a driving device mounted on moving equipment includes a step of expressing a driving device model in a linear standard secondary system; a step of designing an LQ controller in an optimum feedback state capable of minimizing the objective function using the LQ control law which weighs system variables; a step of guiding a closed-loop dynamic system by applying the LQ controller into the driving device model; a step of defining a conversion function for a sliding model controller (SMC) using the values of state variables and differentiating the conversion function; a step of defining the arrival law of variable structure control for a robust controller as the differential equation which expresses the dynamics of the conversion function; and a step of designing an RLQSMC controller by integrating non-linear sliding conversion planes based on the LQ controller and the arrival law.