This study focused on the comparing the response and accuracy performance of three controllers, PID, FPID and fuzzy controllers, on achieving satisfactory steering control for off-road vehicles. While those controllers were designed suitable for any electrohydraulically implemented vehicle steering systems, the specific controller parameters were tuned to an optimal status for each of the controllers against a laboratory scale hardware-in-the-loop electrohydraulic steering simulator. Through analyzing the experimental results obtained from this investigation, it was concluded that the PID controller could not reach a satisfactory control on the entire range implementation, mainly caused by the inherent system deadband of the hydraulic steering actuator. It always results in large errors both on tracking changing input commands (in the form of either ramp or sine wave) and on accomplishing a commanded steering action (namely with a large stable error). While such a poor performance could be improved with larger stroke of commanding steering input, an off-road vehicle requires making small steering corrections for most of the times in field operations. Therefore, a PID controller has a crucial limitation on achieving satisfactory control performance for an electrohydraulically implemented off-road vehicle steering system. The experimental results also proved that both the FPID controller and the fuzzy controller could offer satisfactory stroke control accuracy for the entire range of steering actuation, with the former could achieve more smooth control than the later. A fuzzy controller mimics human operator's logic in controlling the steering operation, can robustly handle any irregular behaviors of a hydraulic steering system, including the system deadband and external disturbances. But, its rule-based reasoning process results in a discrete feature in both tracking the commanding inputs and responding to detected tracking errors.
A comparison of three steering controllers for off-road vehicles
Vergleich von drei Lenksteuerungen für Geländefahrzeuge
2006
13 Seiten, 10 Bilder, 1 Tabelle, 17 Quellen
Aufsatz (Konferenz)
Englisch
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