Active disturbance rejection control in steering by wire haptic systems

Rodríguez-Ángeles, Alejandro; Garcia-Antonio, J.A.

doi:10.1016/j.isatra.2013.06.013

Cited by 15 publications

(11 citation statements)

References 12 publications

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“…the steering handle of forklift) can be described by the following equation: (6) Where, h J , h B and h C are the moment of inertia of steering handle, the viscous friction coefficient and the torsional stiffness of steering shaft respectively; h T is the angle of steering handle, h W is the input hand torque of driver. f W is the feedback resistance moment which transfers to the steering shaft through the road feeling motor and deceleration mechanism.…”

Section: Dynamics Model Of Steering Executive Mechanism For Sbw Systemmentioning

confidence: 99%

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Research on Sliding Mode Control for Steer-by-Wire System in Forklift

et al. 2017

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Aiming at steering stability and wheel angle tracking of steer-by-wire (SBW) three wheeled forklift, steering dynamic model and SBW system mathematical model of three wheeled forklift are established. A control strategy for the ideal transmission ratio is introduced based on this model, which ensures forklift steering gain invariant. A sliding mode controller can then be designed based on the bound information of uncertain system parameters, uncertain self-aligning torque, and external disturbances. The results of simulation show the control strategies above can effectively reduce the sideslip angle when the forklift is steering and improve the sensitivity and stability of the steering forklift; at the same time can effectively restrain the parameter perturbation of internal system and external disturbance, which improves the tracking performance of the wheel angle. IntroductionThe forklift usually works in small working space to handle cargo with low speed, so more need to ensure the steering maneuverability and handling stability [1] . The three wheeled forklift has the characteristic of small size, it uses advanced dual-front technology and rear wheel active steering technology, can achieve 90-degree steering, has advantage of small turning radius, more effort to operate, so very suitable for working in narrow space.Conventional forklifts, which are mechanical steering, can't take the initiative to control the angular transmission characteristics and force transfer characteristics of the steering system. The Steer-by-Wire (SBW) system eliminates the mechanical connection between steering handle and steering wheels in a conventional steering system and transmits the control signals via electrical signals, so that can be freely designed [2][3][4][5].Nowadays, the research on the vehicle steering system is mostly based on the variable transmission ratio and the strategy of yaw stability control, and does not take into account the tracking performance of the wheel angle of SBW system. In this paper, for the three wheeled forklift equipped with SBW system, the stability of the steering forklift and the problem of wheel angle tracking are considered. Based on the ideal transmission ratio control which the yaw rate gain is fixed, sliding mode angle tracking controller based on variable parameters is designed. Through simulation experiments, it is verified that the proposed scheme can improve the stability of the steering forklift and the tracking performance of wheel angle. Modeling of SBW System for Three Wheeled ForkliftIn this paper, a three wheel steering model with 2DOF (which are lateral and yaw) was established. Three Wheeled Forklift Steering Dynamics Model Based on Ground Coordinate SystemAs shown in Fig.1, oc is

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Section: Dynamics Model Of Steering Executive Mechanism For Sbw Systemmentioning

confidence: 99%

“…Due to the SBW system eliminates the mechanical connection between steering handle and steering wheels, it is not necessary to consider the influence of road impact on steering system. The road feeling is totally produced by the simulation of road feeling motor [4][5][6].…”

Section: Dynamics Model Of Steering Executive Mechanism For Sbw Systemmentioning

confidence: 99%

Research on Sliding Mode Control for Steer-by-Wire System in Forklift

et al. 2017

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“…Although the applications of ADRC for several practical plants [13]- [22] show the satisfactory performance of the closed-loop systems against internal and external uncertainties, these previous literatures are in short of the comprehensive analysis from the views of either frequency-domain or time-domain. This paper aims to analyze the properties of ADRC in both time-domain and frequency-domain as well as give several crucial guidelines on tuning of ADRC.…”

Section: Active Disturbance Rejection Tracking Controllermentioning

confidence: 99%

“…According to (22), there is Moreover, lim ωe-1 C 2 ðjωÞ=ω n e ¼ ðjωÞ n þ P n i ¼ 1 k i ðjωÞ n À i means that there exists ω n 1 such that 8 ω e Z ω n 1 , ð1 þ ψ 2 =ω e Þ ¼ C 2 ðjωÞω À n e ðjσω e Þ À n a 0:…”

Section: Appendix Bmentioning

confidence: 99%

Performance analysis of active disturbance rejection tracking control for a class of uncertain LTI systems

2015

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“…By this simplification, LADRC only has 3 parameters for tuning [24]. LADRC has lots of successful applications [25][26][27][28]. Simulation and experimental results prove that LADRC has nice performance and strong robustness to disturbances.…”

Section: Introductionmentioning

confidence: 99%

Linear Active Disturbance Rejection Control of Dissolved Oxygen Concentration Based on Benchmark Simulation Model Number 1

Wang

Wei

2015

Mathematical Problems in Engineering

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In wastewater treatment plants (WWTPs), the dissolved oxygen is the key variable to be controlled in bioreactors. In this paper, linear active disturbance rejection control (LADRC) is utilized to track the dissolved oxygen concentration based on benchmark simulation model number 1 (BSM1). Optimal LADRC parameters tuning approach for wastewater treatment processes is obtained by analyzing and simulations on BSM1. Moreover, by analyzing the estimation capacity of linear extended state observer (LESO) in the control of dissolved oxygen, the parameter range of LESO is acquired, which is a valuable guidance for parameter tuning in simulation and even in practice. The simulation results show that LADRC can overcome the disturbance existing in the control of wastewater and improve the tracking accuracy of dissolved oxygen. LADRC provides another practical solution to the control of WWTPs.

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Active disturbance rejection control in steering by wire haptic systems

Cited by 15 publications

References 12 publications

Research on Sliding Mode Control for Steer-by-Wire System in Forklift

Research on Sliding Mode Control for Steer-by-Wire System in Forklift

Performance analysis of active disturbance rejection tracking control for a class of uncertain LTI systems

Linear Active Disturbance Rejection Control of Dissolved Oxygen Concentration Based on Benchmark Simulation Model Number 1

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