Abstract
The main purpose of this article is to present the design, optimal setting and experimental study of a multivariable PID controller supposed for electrohydraulic power steering system with load-sensing function. The set of the controller is performed through an optimization procedure based on a genetic algorithm. The PID controller is embedded into a microcontroller for mobile machinery used in laboratory test rig for investigation of an electrohydraulic servo steering system. Results obtained in conditions of physical experiment and numerical simulation with the optimally tuned PID controller are presented. An analysis of the control performance, as well as some features of the used method for setting the PID controller.
Highlights
There has been a development of hydraulic drives, which can be summarized in two main directions: the first direction is to introduce digital control, and the second to improve their load-sensitive function
The PID controller is embedded into a microcontroller for mobile machinery used in laboratory test rig for investigation of a electrohydraulic servo steering system
The tuned PID controller is embedded into the microcontroller of test rig for experimental investigation of electrohydraulic servo steering system
Summary
There has been a development of hydraulic drives, which can be summarized in two main directions: the first direction is to introduce digital control, and the second to improve their load-sensitive function. In a number of applications of the hydraulic drive, the two directions of development are combined, and the ultimate goal is to increase the energy efficiency of the entire electrohydraulic system. Achieving this ultimate goal is impossible without an effective control system [1]. The introduction of digital control in almost all applications of hydraulic drives necessitated the use of embedded control systems In this aspect, the behavior of the whole system strongly depends on the embedded controller. It could be tentatively assumed that such a case is observed in electrohydraulic servo systems for power steering of mobile machines
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