Nonlinear control of a hydraulic steer-by-wire test rig using extended linearisation techniques

This paper presents a nonlinear model-based control design for a hydraulic steer-by-wire test rig, which consists of two mechanically coupled hydraulic cylinders actuated each by a separate servo-valve. For both cylinders - a steering cylinder and a servo cylinder - control-oriented nonlinear mathem...

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Bibliographic Details
Published in2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR) pp. 765 - 770
Main Authors Prabel, Robert, Aschemann, Harald
Format Conference Proceeding
LanguageEnglish
Published West Pomeranian University of Technology 01.08.2013
Subjects
Control design
Feedforward neural networks
Force
Friction
Mathematical model
Servomotors
Valves
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Summary:This paper presents a nonlinear model-based control design for a hydraulic steer-by-wire test rig, which consists of two mechanically coupled hydraulic cylinders actuated each by a separate servo-valve. For both cylinders - a steering cylinder and a servo cylinder - control-oriented nonlinear mathematical models are derived. The proposed control structure involves a combined gain-scheduled feedforward and feedback control of the cylinder position for the steering cylinder, whereas the servo cylinder uses a combined gain-scheduled feedforward and feedback control law with the coupling force as controlled variable. A reduced-order observer estimates an external disturbance force representing 1) a simulated drive force - generated by the servo cylinder within a hardware-in-the-loop concept - and 2) nonlinear friction. The design of both decentralised control structures is based on extended linearisation techniques. The efficiency of the proposed control structure is demonstrated by experimental results from a dedicated test rig.
ISBN:9781467355063
1467355062
DOI:10.1109/MMAR.2013.6670009