Automated steering control is essential for an autonomous off-road vehicle. Many off-road vehicles use an electrohydraulic actuator to implement the steering control. The design and validation of an electrohydraulic steering controller through a com-bination of system identification, model simulation, and field tests are presented. A kinematic model of the steering linkage geometry provided the gain between the hydraulic actuator and the front wheels. The system model was used to close the steering control loop based on the feedback signal from the hydraulic steering actuator rather than from the front wheels. Test results were used to identify the nonlinear and dynamic characteristics of the original electrohydraulic steering system. The system identification model was used to develop a preliminary controller, which was simulated under Matlab before beginning full-scale vehicle testing. The simulation and vehicle test results indicated that the steering controller developed was capable of effi-ciently handling the non-linearity and dynamic asymmetry of the electrohydraulic steering system.


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    Title :

    Model recognition and validation for an off-road vehicle electrohydraulic steering controller


    Additional title:

    Prozessidentifikation und -verifikation zum Entwurf der Lageregelung einer elektrohydraulischen Steuerung für einen Ackerschlepper


    Contributors:
    Zhang, Q. (author) / Wu, D. (author) / Reid, J.F. (author) / Benson, E.R. (author)

    Published in:

    Mechatronics ; 12 , 6 ; 845-858


    Publication date :

    2002


    Size :

    14 Seiten, 11 Bilder, 11 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English