This paper presents the development of a nonlinear feedforward-plus-Proportional-Integral-Derivative (FPID) controller for electrohydraulic (E/H) steering on wheel-type tractors. An E/H steering system is a typical nonlinear system with deadband, saturation, asymmetric flow gain, time delay, and other nonlinear behaviors. Conventional PID controllers are incapable of achieving accurate steering control effectively on such nonlinear systems. In this research, an FPID controller was developed for effective and accurate steering control. The feedforward loop in this controller was designed to compensate for the deadband of the E/H system. The PID loop was designed to compensate the tracking error in steering control. A coordinated nonlinear gain function was designed to change the PID loop gain based on the level of the tracking error. This FPID controller has significantly improved the steering accuracy comparing with that from a PID controller. Test results showed that the maximum tracking error in steering angle was less than 0.5 degree corresponding to a sinusoid steering command of +/-5 degree at the command frequency of 0.1 Hz. The maximum overshoot was less than 12% and the rise time was less than 0.25 s corresponding to a steering command of 5 degree step input. This FPID controller achieved effective and accurate steering control on agricultural tractor E/H steering systems.


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    Title :

    Nonlinear feedforward-plus-PID control for electrohydraulic steering systems


    Contributors:
    Qiu, Hongchu (author) / Zhang, Qin (author) / Reid, J.F. (author) / Wu, Duqiang (author)


    Publication date :

    1999


    Size :

    14 Seiten, 15 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English