This paper presents the use of a feedforward-plus-proportional-integral- derivative (FPID) controller for improving the control performance of the electrohydraulic steering system on an off-road vehicle. The FPID controller used an inverse valve transform in the feedforward loop to compensate for an electrohydraulic steering system deadband and used a conventional PID feedback loop to minimize the tracking error in steering control. On-simulator evaluation tests verified that the FPID resulted in a superior steering rate tracking performance over both a feedforward controller and a PID controller. On-vehicle evaluation tests verified that this FPID controller could achieve prompt and accurate steering angle tracking for agricultural vehicle automated guidance applications. feedforward-plus-proportional-integral-derivative control, electrohydraulic steering.
Feedforward-plus-proportional-integral-derivative controller for an off-road vehicle electrohydraulic steering system
2003
8 Seiten, 12 Quellen
Aufsatz (Zeitschrift)
Englisch
Nonlinear feedforward-plus-PID control for electrohydraulic steering systems
Tema Archiv | 1999
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