High-gain observer-based pump/valve combined control for heavy vehicle electro-hydraulic servo steering system

Du, Haibo; Ding, Kaiyi; Shi, Jiajun; Feng, Xinyu; Guo, Kun; Fang, Jinhui

doi:10.1016/j.mechatronics.2022.102815

Cited by 8 publications

(3 citation statements)

References 26 publications

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“…1 However, EHS systems usually suffer from load variations, parameter uncertainties, and modeling nonlinearities in practice. Numerous control strategies have been developed specifically, such as adaptive control (Guo et al,2020(Guo et al, , 2021 sliding mode control (Thomas et al, 2022;Zhao et al, 2020), and observer-based control (Du et al, 2022;Wang et al, 2022). Yao and Tomizuka (1997) proposed an adaptive robust control (ARC) scheme for EHS systems, using robust control as the basic framework to overcome uncertain disturbances and designing a discontinuous parameter adaptation law to compensate for parameter variations.…”

Section: Introductionmentioning

confidence: 99%

“…However, this method of flow distribution does not account for the differences in valve performance. Meanwhile, proper arrangement of the control law among multi-parts according to the time sequence is widely used in multiple-in-single-output systems, such as pump-valve-coordinated systems (Du et al, 2022; Lyu et al, 2020) and multi-cylinder parallel systems.…”

Section: Introductionmentioning

confidence: 99%

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Practical adaptive robust tracking control of the dual-valve parallel electro-hydraulic servo system with reduced-order model

Hu,

Zhang,

Fang

et al. 2023

Transactions of the Institute of Measurement and Control

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To meet the increasing demand for trajectory tracking accuracy and high-efficiency requirements in modern mobile machinery, this paper proposes a practical adaptive robust control method based on the dual-valve parallel electro-hydraulic servo system. Existing tracking control strategies for such servo systems rely on a backstepping method and assume that full states are known, which is stringent in practice. To cope with the problem, we reduce the mathematical model order of the studied system using singular perturbation theory in this paper, and only the position feedback is required for the control implementation. Then, to achieve high accuracy tracking control, a direct adaptive robust control scheme combing with a dynamic flow allocation layer is adopted to synthesize the controller. With this method, parameter uncertainties and load disturbance are rejected, and valve characteristics are considered in the dynamic flow allocation layer to solve the flow redundancy problem, respectively. Convergence of the simplified system tracking results is proved theoretically. Extensive co-simulations and experimental tests are carried out to illustrate the effectiveness of the proposed strategy, both tracking precision and flow distribution can be achieved efficiently by simple parameter adjustments in the field.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Practical adaptive robust tracking control of the dual-valve parallel electro-hydraulic servo system with reduced-order model

Hu,

Zhang,

Fang

et al. 2023

Transactions of the Institute of Measurement and Control

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show abstract

“…Electrohydraulic servo steering system (EHSSS) is a key technology to ensure the flexibility and safety of heavy vehicles, and it has studied by many scholars. [1][2][3][4] Due to environmental and economic issues, 5 the high-efficiency and energy-saving EHSSS has become an urgent need for heavy vehicles. However, the traditional EHSSS is usually controlled by a traditional valve with one single control signal.…”

Section: Introductionmentioning

confidence: 99%

Application research of electro-hydraulic servo steering system based on independent metering system

Liu

Cai

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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Electro-hydraulic servo steering system (EHSSS) is a key technology for heavy vehicles. The traditional EHSSS has high control accuracy but low energy efficiency. Therefore, this paper proposes a novel EHSSS based on independent metering system, which can combine high steering accuracy with high energy efficiency. Firstly, two servo-proportional valves are used to reduce the throttling loss at the meter-out orifice. The servo motor pump is used to keep the pump supply pressure at a low value. Then, to ensure high steering accuracy, a position-velocity-pressure combined control strategy is proposed for easy engineering practice. And a smooth switching strategy is proposed to achieve smooth mode switching at high frequency. Finally, the effectiveness of the proposed method is verified by experiments. The experimental comparison results show that the proposed method can achieve the same accuracy as the valve-controlled steering system with less energy, and can realize smooth mode switching.

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Development of an automatic control system for a hydraulic pruning robot

Huang,

Cai,

Wang

et al. 2023

Computers and Electronics in Agriculture

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High-gain observer-based pump/valve combined control for heavy vehicle electro-hydraulic servo steering system

Cited by 8 publications

References 26 publications

Practical adaptive robust tracking control of the dual-valve parallel electro-hydraulic servo system with reduced-order model

Practical adaptive robust tracking control of the dual-valve parallel electro-hydraulic servo system with reduced-order model

Application research of electro-hydraulic servo steering system based on independent metering system

Development of an automatic control system for a hydraulic pruning robot

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