Model recognition and validation for an off-road vehicle electrohydraulic steering controller

Zhang, Q.; Wu, Duqiang; Reid, John F.; Benson, E. R.

doi:10.1016/s0957-4158(01)00030-7

Cited by 16 publications

(13 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…By employing the design formulate (8) and obtain the filter ( ) = 1/(0.0065 2 + 0.18 + 1). In the same way, take = 100, = 0.12, by employing the design formulate (13), (14), and (15), and obtain the disturbance rejection controller in form of …”

Section: Simulation Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Yin

Sun

et al. 2018

Journal of Electrical and Computer Engineering

View full text Add to dashboard Cite

The most of tractors employed in agriculture are equipped with an electrohydraulic actuator to implement steering control to realize automatic navigation. Electrohydraulic steering system plays an important role in realizing accurate steering control for an automatic navigation tractor because of its complicated characteristics. The objective of this paper is to develop an electrohydraulic steering control system used for automatically guided agricultural tractors. As for the identified electrohydraulic steering system model, a modified Smith control structure was discussed. Based on the structure, an improved design method for voltage servo controller and disturbance rejection controller was proposed to enhance the performance of the steering control subsystem. The effectiveness and the superiority of the proposed method were verified by simulation under Matlab. Simulation results demonstrated the efficiency of the proposed method by showing fast response, control accuracy, and robust performance for the steering control system.

show abstract

Section: Simulation Resultsmentioning

confidence: 99%

“…It would desirable to offer the promise of higher efficiency, better and more consistent performance, and reduced labor costs and release the operator from driving to concentrate on implementing other functions. The need for tractor has been reinforced because of its advance in application technology [8].…”

Section: Introductionmentioning

confidence: 99%

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Yin

Sun

et al. 2018

Journal of Electrical and Computer Engineering

View full text Add to dashboard Cite

show abstract

“…Since the electrohydraulic (E/H) steering actuator has the capability of quick response and precise execution, it is widely used in high precision navigation control systems of agricultural vehicles [25]. In view of this, the electrohydraulic steering actuator is also designed in the paper to achieve the automatic steering control system.…”

Section: Problem Statement For Agricultural Vehicle Steering Controlmentioning

confidence: 99%

Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

2014

Mathematical Problems in Engineering

View full text Add to dashboard Cite

Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

show abstract

“…Steering control not only calculates and manipulates steering wheel to guide vehicles along the lateral path, but also related to lateral stability of vehicle. Therefore, it is a hot discussion for researchers [12].…”

Section: Introductionmentioning

confidence: 99%

Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles

Guo

Cao

et al. 2018

Mechatronics

View full text Add to dashboard Cite

A novel description of dual-envelop-oriented path tracking issue is presented for fully automated vehicles which considers shape of vehicle as inner-envelop (I-ENV) and feasible road region as outer-envelop (O-ENV). Then implicit linear model predictive control (MPC) approach is proposed to design moving horizon path tracking controller in order to solve the situations that may cause collision and run out of road in traditional path tracking method. The proposed MPC controller employed varied sample time and varied prediction horizon and could deal with modelling error effectively. In order to specify the effectiveness of the proposed dual-envelop-oriented moving horizon path tracking method, veDYNA-Simulink joint simulations in different running conditions are carried out. The results illustrate that the proposed path tracking scheme performs well in tracking the desired path, and could increase path tracking precision effectively.

show abstract

Model recognition and validation for an off-road vehicle electrohydraulic steering controller

Cited by 16 publications

References 4 publications

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Development of Electrohydraulic Steering Control System for Tractor Automatic Navigation

Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles

Contact Info

Product

Resources

About