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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A comparison of three steering controllers for off-road vehicles


    Additional title:

    Vergleich von drei Lenksteuerungen für Geländefahrzeuge


    Contributors:
    Gao, Y. (author) / Zhang, Q. (author)


    Publication date :

    2006


    Size :

    13 Seiten, 10 Bilder, 1 Tabelle, 17 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    A comparison of three steering controllers for off-road vehicles

    Gao, Y-J / Huang, R / Zhang, Q | SAGE Publications | 2008


    A comparison of three steering controllers for off-road vehicles

    Gao,Y.J. / Huang,R. / Zhang,Q. et al. | Automotive engineering | 2008


    Braking controllers and steering controllers for combination vehicles

    Kimbrough,S. / Elwell,M. / Chio,C. et al. | Automotive engineering | 1994


    Steering Controllers for Future Railway Vehicles

    Nagy, Z. / Wickens, A. / Goodall, R. | British Library Conference Proceedings | 2000