Precise Position Adjustment of Automotive Electro-Hydraulic Coupling System with Parameter Perturbations

Based on the guaranteed cost theory, this paper proposes a robust controller for the automotive electro-hydraulic coupling system. However, parameter perturbation caused by the model linearization is a critical challenge for the nonlinear electro-hydraulic coupling system. Generally, the electrical brake booster system (E-Booster) can be separated into three parts, a permanent magnet synchronous motor (PMSM), a hydraulic model of the master cylinder, and the transmission mechanism. In this paper, the robust guaranteed cost controller (RGCC) could adjust accurately the pushrod position of the E-Booster and has strong robustness against internal uncertainties, and the linear extended state observer (LESO) was utilized to optimize E-Booster's dynamic performance. Thus, the tracking differentiator (TD) and LESO are used to improve the dynamic precision and reduce the hysteresis effect. The overshoot is suppressed by TD, and the disturbance caused by nonlinear uncertainty is restrained by LESO. Experiment results show that RGCC sacrifices 6% phase lag in the low-frequency domain for a 10% and 40% reduction in first and second-order respectively compared with the proportion integration differentiation (PID). Results demonstrate that RGCC has higher precision and stronger robustness in dynamic behaviour.

Robust Control of EHCS of Intelligent Commercial Vehicle under Load Change

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.

Modal and Natural Frequency Sensitivity Analysis of Electrohydraulic Stewart Platform

Electrohydraulic Stewart platform is a multi-input and multi-output mechanical-hydraulic coupling system, which has the advantages of large power-to-weight ratio and high accuracy. It has been widely used in construction machinery, aerospace, and other fields. In the actual working process, especially in the high-speed motion, the Stewart platform movement process will produce a large impact and vibration and then affect the stability, accuracy, and service life of the platform. When the frequency of the external excitation coincides with the natural frequency of the electrohydraulic Stewart platform, it may cause the failure of the platform. Therefore, based on the relationship between the volumetric elastic modulus of the gas-bearing oil and the hydraulic stiffness of the leg, a mechanical-hydraulic coupling dynamic model of the electrohydraulic Stewart platform was established, and the natural frequencies and modal shapes of the platform were analyzed under typical conditions. The sensitivity calculation formula of the natural frequency of the system on the upper platform mass and the hydraulic stiffness of the outer leg is given by an analytical method, and the influence law of the upper platform mass and the outer leg stiffness on the natural frequency and the sensitivity of the electrohydraulic Stewart platform under typical conditions is discussed. This study can provide theoretical support for dynamic optimization of the electrohydraulic Stewart platform.

Clearing Model for Day-ahead Market Considering Hydraulic Coupling Relationship of Multi-operator Cascade Hydropower Stations

There is a hydraulic coupling relationship between the upstream and downstream of cascade hydropower stations, and they usually belong to different stakeholders. Traditional clearing mechanism may lead to the mismatch between the bid-winning power and the actual power generated by the downstream power stations, and the low-cost downstream power stations may lose some chance to generate, resulting in damage to social welfare. This paper analyzes the problems faced by multi-operator cascade hydropower stations participating in the day-ahead market. By deducing the generation coupling relationship between upstream and downstream cascade hydropower stations, it is found that the output of downstream hydropower stations can be divided into four parts: fixed part, adjustable part, the part coupled with the output of the upstream power station, the part coupled with the output of the upstream power station and the adjustable output. At last, day-ahead market clearing mechanism and settlement mechanism for downstream power stations to participate in bidding are proposed.