Abstract
Electro Hydraulic Coupling Steering (EHCS) system is a new type of intelligent commercial vehicle steering system, having strong nonlinear characteristics. Besides, the change of load would cause the change of control system parameters, making not easy to establish an accurate control model of it. To realize the robustness of EHCS under the change of load, the controller based on the adaptive control method is proposed in this paper. To this end, the cosimulation model of EHCS is first established, where the constructed control model is simplified to a 2-degree-of-freedom model under reasonable simplification and assumption. Then, the steering angle controller is designed based on the model reference adaptive theory. Finally, some simulations are given to show the effectiveness of the proposed control method.
Highlights
As commercial vehicles pay more attention to use efficiency and cost savings, intelligenceof it is more urgent than that of passenger vehicles
The steering system of commercial vehicles has gradually developed from mechanical to intelligent and electric power [2], which has gone through several stages: hydraulic power (HPS), electronically controlled hydraulic power (ECHPS), electric power (EPS), and steer-by-wire (SBW), e.g. The traditional HPS requires a lot of energy and has the disadvantage that the assist characteristics can not be adjusted [3], which will make the driver feel heavy when turning at low speed and float at high speed
In this paper, aiming at the great variation of steering resistance moment with variable load of intelligent commercial vehicle and the nonlinear problems in the control of electrohydraulic coupled steering (EHCS), a control framework is proposed based on model adaptive theory, and the control model is designed according to the ideal model as a reference model
Summary
As commercial vehicles pay more attention to use efficiency and cost savings, intelligenceof it is more urgent than that of passenger vehicles. The electrohydraulic coupled steering (EHCS) system in this paper adds a set of power motor unit on the basis of traditional HPS, which combines the advantages of high energy density of hydraulic system and high intelligence of electronic control system [5] It can have good steering characteristics and can be used as the hardware basis of active lateral control, matching the intelligent commercial vehicle. Based on the linearized 2-degree-of-freedom model of the EHCS, Garcia et al [12] designed the steering angle PI controller. Some simple controllers such as the PI controller are not easy to adjust the change in EHCS while artificial intelligence control with complex structure needs long adjustment time, which can not achieve an instantaneous dynamic response.
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