Model Recognition and Simulation of an E/H Steering Controller on Off-Road Equipment
نویسندگان
چکیده
[Abstract] An automated E/H steering controller is essential for autonomous off-road equipment. This paper presents a methodology for designing the E/H steering controller through a combination of testing and simulation. The steering kinematic model provides the steering linkage gain between the hydraulic actuator and the front wheel. The model makes it possible to close the steering control loop based on the signal of the hydraulic steering actuator rather than the front wheel. Test results were used to identify the non-linear and dynamic characteristics of the original E/H steering system. A Matlab model of E/H steering controller was developed based on the experimental test results.
منابع مشابه
Dynamic Simulator of Wheel Type Tractor Steering
There are a variety of factors affecting steering performance on off-road vehicles, including vehicle dynamics and soil stiffness. It is essential to understand the steering dynamics for designing a reasonable electrohydraulic (E/H) steering control system for wheel-type tractor. A computer-controlled E/H steering simulator, consisting of a steering actuator and a steering load simulator, is an...
متن کاملModeling and Optimal Control of 4 Wheel Steering Vehicle Using LQR and its Comparison with 2 Wheel Steering Vehicle
In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the...
متن کاملWireless Networking for Control and Automation of Off-road Equipment
This paper describes new wireless networking technology and its applications to off-road equipment. We present an overview of current wireless networking equipment as well as a description of a commercially available voice recognition package. We then demonstrate several examples of the use of wireless networking for control and automation on an agricultural platform. These examples include tel...
متن کاملDesign of an Automated Steering Controller with Steering Actuator Dynamics and Adaptive Preview Time
An automated steering controller is proposed to track the target path in this paper. Model predictive control is employed to design the controller based on a 5-state road following bicycle model including the steering actuator dynamics. The adaptive preview time is reduced for an increased path geometry change index due to driving from a straight road into a sharp curve. The preview time is inc...
متن کاملRule-base Reduction for a Fuzzy Human Operator Performance Model
This article presents a general procedure of reducing the number of fuzzy rules needed to perform a human-in-the-loop (HIL) design process using a virtual environment design tool. This HIL design process is created for designing an adaptive steering controller to achieve optimal vehicle maneuverability regardless of operator’s driving behaviors. In this design process, a dynamic model of an art...
متن کامل