This paper presents the use of a feedforward-plus-proportional-integral-derivative ( FPID) controller for improving the control performance of the electrohydraulic steering system on an oroad vehicle. The FPID controller used an inverse valve transform in the feedforward loop to compensate for an electrohydraulic steering system deadband and used a conventional PID feedback loop to minimize the tracking error in steering control. On-simulator evaluation tests veri ed that the FPID resulted in a superior steering rate tracking performance over both a feedforward controller and a PID controller. On-vehicle evaluation tests veri ed that this FPID controller could achieve prompt and accurate steering angle tracking for agricultural vehicle automated guidance applications.
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.
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