A Comparison of Three Controllers for E/H Steering System
Many off-road vehicles use an electro-hydraulic (E/H) actuator for implementing steering controls. However, the high nonlinearity of those E/H steering systems often results in a difficult in achieving high performance in steering control, especially when it requires only some small steering corrections. Such feature of E/H steering systems calls for advanced control methods to overcome the nonlinearity problems for achieving a desirable level of steering performance. This paper presents the development and applications of a PID controller, a feedforward- plus-PID (FPID) controller and a fuzzy controller for an E/H steering system typically used on an off-road vehicle. All controllers were implemented on a hardware-in-the-loop E/H steering system simulator for performance comparison. The test tests verified that both the FPID and fuzzy controllers have superior performance on compensating for system deadband and could achieve more sensitive and accurate small steering corrections than a PID controller could.
Off-road vehicles electrohydraulic steering control PID control Feedforward-plus-PID control fuzzy control
Huang Runan Gao Yingjie Zhang Qin
Institute of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China Department of Agricultural and Biological Engineering, University of Illinois at Urbana-Champaign, U
国际会议
北戴河
英文
877-884
2007-06-06（万方平台首次上网日期，不代表论文的发表时间）