scholarly journals Robust Control of EHCS of Intelligent Commercial Vehicle under Load Change

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Yushan Li ◽  
Jitai Yu ◽  
Ziliang Zhao ◽  
Bin Guo
Keyword(s):  
Commercial Vehicle ◽  
Control Method ◽  
Steering System ◽  
Control Model ◽  
Steering Angle ◽  
Nonlinear Characteristics ◽  
System Parameters ◽  
Hydraulic Coupling ◽  
New Type ◽  
Model Reference Adaptive

Electro Hydraulic Coupling Steering (EHCS) system is a new type of intelligent commercial vehicle steering system, having strong nonlinear characteristics. Besides, the change of load would cause the change of control system parameters, making not easy to establish an accurate control model of it. To realize the robustness of EHCS under the change of load, the controller based on the adaptive control method is proposed in this paper. To this end, the cosimulation model of EHCS is first established, where the constructed control model is simplified to a 2-degree-of-freedom model under reasonable simplification and assumption. Then, the steering angle controller is designed based on the model reference adaptive theory. Finally, some simulations are given to show the effectiveness of the proposed control method.

Multi-Objective Technologic Parameter Optimization of Face Milling Based on GRA-PSO Algorithm

2013 ◽  
Vol 364 ◽  
pp. 504-508 ◽  
Author(s):  
Dong Hong Tang ◽  
Yue Han
Keyword(s):  
Parameter Optimization ◽  
Preferential Flow ◽  
Pso Algorithm ◽  
Steering System ◽  
Face Milling ◽  
Corner Detection ◽  
Steering Angle ◽  
Wheel Loader ◽  
Steer By Wire ◽  
New Type

The development and characteristics of Steer-By-Wire is introduced and the design of Steer-By-Wire in articulated wheel loader is fully discussed in this paper. The whole system takes advantage of proportional decompression valve to control the motion of preferential flow amplifier valve, and further to achieve steering by controlling steering cylinder. Whats more, this paper has also elaborated on a design of new-type steering angle detection devices of vehicle frame, which aims at more accurate corner detection and is also a breakthrough in steering system of wheel loader.

A Nonlinear Control Method of Steering Angle Following Used in Steer-by-Wire System

2012 ◽  
Vol 190-191 ◽  
pp. 890-893 ◽  
Author(s):  
Yi Ran Li ◽  
Jian Ming Huang ◽  
Zhi Ming He
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Steering System ◽  
Second Order ◽  
Active Disturbance Rejection Control ◽  
Steering Angle ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Steer By Wire ◽  
Wire System

In this paper, active disturbance rejection control method is used to implement the steering angle following control of steer-by-wire system for the simplification of controller designing. The dynamic model of steering performing system is established, and then a second order active disturbance rejection controller is designed to control the steering angle. On the electric vehicle with steer-by-wire system, the angle following test of steering performing system is carried out under the control of the second order active disturbance rejection controller. The results show that the designed active disturbance rejection controller can restrain the effect of system resistant force on the accuracy of angle following and meet the requirement of steer-by-wire system to the steering angle following function. At the same time, there isn’t necessary to get the accurate data of steering system and the design process of controller becomes simple with adopting active disturbance rejection control method.

Modeling and simulation of aircraft anti‐skid braking and steering using co‐simulation method

2009 ◽  
Vol 28 (6) ◽  
pp. 1471-1488 ◽  
Author(s):  
Zhang Ming ◽  
Nie Hong ◽  
Wei Xiao‐hui ◽  
Qian Xiaomei ◽  
Zhou Enzhi
Keyword(s):  
Hydraulic System ◽  
Control Method ◽  
Simulation Method ◽  
Steering System ◽  
Control Model ◽  
Matlab Simulink ◽  
Content Type ◽  
Braking System ◽  
Safe Area ◽  
Braking Control

PurposeThe purpose of this paper is to introduce a co‐simulation method to study the ground maneuvers of aircraft anti‐skid braking and steering.Design/methodology/approachA virtual prototype of aircraft is established in the multibody system dynamics software MSC.ADAMS/Aircraft. The anti‐skid braking control model, which adopts the multi‐threshold PID control method with a slip‐velocity‐controlled, pressure‐bias‐modulated (PBM) system, is established in MATLAB/Simulink. EASY5 is used to establish the hydraulic system of nose wheel steering. The ADAMS model is connected to block diagrams of the anti‐skid braking control model in MATLAB/Simulink, and is also connected to the block diagrams of nose wheel steering system model in EASY5, so that the ground maneuvers of aircraft anti‐skid braking and steering are simulated separately.FindingsResults are presented to investigate the performance of anti‐skid braking system in aircraft anti‐skid simulation. In aircraft steering simulation, the influence of two important parameters on the forces acting on the tires is discussed in detail, and the safe area to prevent aircraft sideslip is obtained.Originality/valueThis paper presents an advanced method to study the ground maneuvers of aircraft anti‐skid braking and steering, and establishes an integrated aircraft model of airframe, landing gear, steering system, and anti‐skid braking system to investigate the interaction of each subsystem via simulation.

Control of a Two-Joint, Two-Steering Snake-Like Robot

2009 ◽  
Vol 21 (1) ◽  
pp. 66-73
Author(s):  
Hiroaki Yamaguchi ◽  
Keyword(s):  
Feedback Control ◽  
Constant Velocity ◽  
Control Method ◽  
Mechanical Design ◽  
Path Following ◽  
Steering System ◽  
Mathematical Framework ◽  
Feedback Control Method ◽  
New Type ◽  
Position And Orientation

This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations. This paper is the full translation from the transactions of JSME Vol.71, No.706.

Control of A New Type of Undulatory Wheeled Locomotor: A Trident Steering Walker Based on Chained Form

2009 ◽  
Vol 21 (4) ◽  
pp. 541-553 ◽  
Author(s):  
Hiroaki Yamaguchi ◽  
Keyword(s):  
Feedback Control ◽  
Performance Index ◽  
Control Method ◽  
Path Following ◽  
Steering System ◽  
Mathematical Framework ◽  
Control Parameters ◽  
Straight Path ◽  
Feedback Control Method ◽  
New Type

This paper introduces and describes a new type of undulatory wheeled locomotor, which we refer to as a “trident steering walker.” The wheeled locomotor is a nonholonomic mechanical system, which consists of an equilateral triangular base, three joints, three links and four steering systems. The equilateral triangular base has a steering system at its center of mass. At each apex of the base is a joint which connects the base and a link. The link has a steering system at its midpoint. The wheeled locomotor transforms driving the three joints into its movement by operating the four steering systems. This means that the wheeled locomotor achieves undulatory locomotion in which changes in its own shape are transformed into its net displacement. We assume that there is a virtual joint at the end of the first link. The virtual joint connects the first link and a virtual link which has a virtual axle at its midpoint and a virtual steering system at its end. We prove that, by assuming the presence of such virtual mechanical elements, it is possible to convert the kinematical equation of the trident steering walker into five-chain, single-generator chained form in a mathematical framework, differential geometry. Based on chained form, we derive a path following feedback control method which causes the trident steering walker to follow a straight path. We also define a performance index of propulsion of the trident steering walker to design its control parameters. The validity of the mechanical design of the trident steering walker, the conversion of its kinematical equation into chained form, the straight path following feedback control method, and the design of the control parameters reflecting the performance index of propulsion has been verified by computer simulations.

scholarly journals Research on Model Predictive Control Method for Vehicle Lateral Stability Based on Hardware-in-the-Loop Test

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Jian Wang ◽  
Shifu Liu ◽  
Jian Wu ◽  
Jun Yang ◽  
Aijuan Li
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Model Uncertainty ◽  
Control Method ◽  
Autonomous Driving ◽  
Steering System ◽  
Control Model ◽  
Hardware In The Loop ◽  
Active Steering ◽  
Active Steering System

With the rapid development of the vehicle chassis control and autonomous driving technology, it is more and more urgent to realize the active steering technology of autonomous driving stability control. Under emergency conditions, the adhesion constraints, the model uncertainty, and the strong nonlinearity of vehicle bring great challenges to active steering control. In this paper, a model predictive control method for an active steering system based on a nonlinear vehicle model is proposed to solve the problems of adhesion constraint, model uncertainty, and external disturbance in the active steering system. Based on the real-time measurement of vehicle state, a new optimization method is proposed in this paper, which has good performance in dealing with the uncertainty and nonlinearity of the model. The control method transforms the constraint problem into quadratic programming and nonlinear programming. In order to ensure the control accuracy when the vehicle enters the nonlinear area, the control model is built with the combination of the nonlinear tire model and the 2DOF model. The control model is built based on Simulink, and the effectiveness of the controller is the verified joint simulation of Simulink and CarSim. The hardware-in-the-loop (HIL) test bench based on LabVIEW RT is built and tested in order to verify the feasibility and real effect of the controller. Simulation and HIL test results demonstrate that, compared with PID controller, the model predictive controller can accomplish the driving task well and improve the vehicle handling stability.

Research of Steer-by-Wire Technology on Articulated Wheel Loader

2013 ◽  
Vol 364 ◽  
pp. 299-303
Author(s):  
An Min Wang ◽  
Ming Tang ◽  
Jun Ying Li
Keyword(s):  
Preferential Flow ◽  
Steering System ◽  
Corner Detection ◽  
Steering Angle ◽  
Wheel Loader ◽  
Steer By Wire ◽  
New Type

The development and characteristics of Steer-By-Wire is introduced and the design of Steer-By-Wire in articulated wheel loader is fully discussed in this paper. The whole system takes advantage of proportional decompression valve to control the motion of preferential flow amplifier valve, and further to achieve steering by controlling steering cylinder. Whats more, this paper has also elaborated on a design of new-type steering angle detection devices of vehicle frame, which aims at more accurate corner detection and is also a breakthrough in steering system of wheel loader.

Multimode Adaptive Control for Tank Gun Control System Based on Tracking Differentiator

2011 ◽  
Vol 383-390 ◽  
pp. 79-85
Author(s):  
Dong Yuan ◽  
Xiao Jun Ma ◽  
Wei Wei
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
High Speed ◽  
Control Method ◽  
Reference Model ◽  
Gun Control ◽  
Math Model ◽  
Tracking Differentiator ◽  
Switch Control ◽  
Model Reference Adaptive

Aiming at the problems such as switch impulsion, insurmountability for influence caused by nonlinearity in one tank gun control system which adopts double PID controller to realize the multimode switch control between high speed and low speed movement, the system math model is built up; And then, Model Reference Adaptive Control (MRAC) method based on nonroutine reference model is brought in and the adaptive gun controller is designed. Consequently, the compensation of nonlinearity and multimode control are implemented. Furthermore, the Tracking Differentiator (TD) is affiliated to the front of controller in order to restrain the impulsion caused by mode switch. Finally, the validity of control method in this paper is verified by simulation.

Research on a New Type of Lithium Battery String Equalization and Management System

2011 ◽  
Vol 383-390 ◽  
pp. 1470-1476
Author(s):  
Hao Wang ◽  
Ding Guo Shao ◽  
Lu Xu
Keyword(s):  
Lithium Batteries ◽  
Management System ◽  
Lithium Battery ◽  
Large Scale ◽  
Control Method ◽  
Balance Control ◽  
Industrial Applications ◽  
Control Technique ◽  
New Type ◽  
Management Functions

Lithium battery has been employed widely in many industrial applications. Parameter mismatches between lithium batteries along a series string is the critical limits of the large-scale applications in high power situation. Maintaining equalization between batteries is the key technique in lithium batteries application. This paper summarizes normal equalization techniques and proposed a new type of lithium Battery Equalization and Management System (BEMS) employing the isolated DC-DC converter structure. The system is integrated both equalization functions and management functions by using distributed 3-level controlled structure and digital control technique. With this control method the flexibility of the balance control strategy and the compatibility for different battery strings are both improved dramatically. The experimental results show optimizing equalization, efficiency and the battery string life span has been extended.

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