0
TECHNICAL PAPERS

Modeling and H2/H∞ MIMO Control of an Earthmoving Vehicle Powertrain

[+] Author and Article Information
Rong Zhang, Andrew Alleyne

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, 140 MEB, 1206 W Green St., Urbana, IL 61801

Eko Prasetiawan

AAC Division of Belcan Corporation, PO Box 1875, Caterpillar Inc., Technical Center Bldg. E-900, Peoria, IL 61656-1875e-mail: Prasetiawan_Eko_A@CAT.com

J. Dyn. Sys., Meas., Control 124(4), 625-636 (Dec 16, 2002) (12 pages) doi:10.1115/1.1515326 History: Received May 01, 2001; Revised December 01, 2001; Online December 16, 2002
Copyright © 2002 by ASME
Your Session has timed out. Please sign back in to continue.

References

Singh,  S., 1997, “State of the Art in Automation of Earthmoving,” Journal of Aerospace Engineering, 10, pp. 179–188.
Skogestad, S., and Postlethwaite, I., 1996, Multivariable Feedback Control: Analysis and Design, John Wiley and Sons, New York.
Zhou, K., Doyle, J. C., and Glover, K., 1996, Robust and Optimal Control, Prentice-Hall, Inc., Upper Saddle River. NJ.
Zhou, K., and Doyle, J. C., 1998, Essentials of Robust Control, Prentice Hall, Upper Saddle River, NJ.
Dasgupta,  S., and Chattopadhyay,  A., 1991, “A Basic Approach by Dynamic Analysis of Hydrostatic Transmission Used in a Heavy Earthmover,” Mining Technology, 73, pp. 113–116.
Njabeleke,  I. A., Pannett,  R. F., Chawdhry,  P. K., and Burrows,  C. R., 2000, “Design of H Infinity Loop-Shaping Controllers for Fluid Power Systems,” Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci., 214(3), pp. 483–500.
Prasetiawan, E. A., 2000, “Modeling, Simulation and Control of an Earthmoving Vehicle Powertrain Simulator,” M.S. Univ. of Illinois.
Prasetiawan, E. A., Zhang, R., Alleyne, A. G., and Tsao, T. C., 1999, “Modeling and Control Design of a Powertrain Simulation Testbed for Earthmoving Vehicles,” Proc. of ASME Int. Mechanical Engineering Congress and Exposition: The Fluid Power and Systems Technology Division, Nashville, TN, 6 , pp. 139–146.
Prasetiawan, E. A., Zhang, R., and Alleyne, A. G., 2000, “Modeling and Coordinated Control of An Earthmoving Vehicle Powertrain,” Proc. of ASME Int. Mechanical Engineering Congress and Exposition: The Fluid Power and Systems Technology Division, Orlando, FL, pp. 289–296.
Moskwa, J. J., and Hedrick, J. K., 1987, “Automotive Engine Modeling for Real Time Control Application,” Proc. of American Control Conf., American Automatic Control Council, Piscataway, NJ, pp. 341–346.
Schoenau,  G. J., Burton,  R. T., and Kavanagh,  G. P., 1990, “Dynamic Analysis of a Variable Displacement Pump,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 122–132.
Manring,  N. D., and Johnson,  R. E., 1996, “Modeling and Designing a Variable-Displacement Open-Loop Pump,” ASME J. Dyn. Syst., Meas., Control, 118, pp. 267–271.
Prasetiawan, E., Zhang, R., and Alleyne, A., 2001, “Fundamental Performance Limitations for A Class of Electronic Two-stage Proportional Flow Valves,” Proc. of American Control Conf., Arlington, VA, pp. 3955–3960.
Zhang, R., and Alleyne, A., 2001, “A Model Reference Load Controller with Adaptation Using a Two Stage Pressure Relief Valve,” Proc. of American Control Conf., Arlington, VA, pp. 3949–3954.
Dorato, P., Abdallah, C., and Cerone, V., 1995, Linear-Quadratic Control: An Introduction, Prentice Hall, Englewood Cliffs, NJ.
Doyle,  J. C., and Stein,  G., 1982, “Multivariable Feedback Design: Concepts for a Classical/Modern Synthesis,” IEEE Trans. Autom. Control, AC-26(1), pp. 4–16.
Athans, M., 1986, “A tutorial on the LQG/LTR method,” Proc. of American Control Conf., Seattle, WA, pp. 1289–1296.
Balas, G. J., Doyle, J. C., Glover, K., Packard, A., and Smith, R., 1995, Mu(μ)-Analysis and Synthesis Toolbox, for Use with MATLAB, Mathworks, Inc., MUSYN Inc.
Kao,  M., and Moskwa,  J. J., 1995, “Turbocharged Diesel Engine Modeling for Nonlinear Engine Control and State Estimation,” ASME J. Dyn. Syst., Meas., Control, 117, pp. 20–30.

Figures

Grahic Jump Location
Schematic diagram of a frequency coordinated PID controller for a hydrostatic transmission (HST)
Grahic Jump Location
Reference tracking response of a frequency coordinated PID controller
Grahic Jump Location
Earthmoving vehicle powertrain simulator
Grahic Jump Location
Schematic of an earthmoving vehicle powertrain
Grahic Jump Location
Pilot flow is parallel to main flow (zero introduced)
Grahic Jump Location
Model interconnection of a multi-load powertrain
Grahic Jump Location
Earthmoving vehicle powertrain simulator (EVPS) schematic
Grahic Jump Location
Model validation using a square-wave as the swash-plate angle input the nonlinear system.
Grahic Jump Location
LQG controller schematic
Grahic Jump Location
Singular-value bode plot: comparison between the LQR loop and the LQG loop
Grahic Jump Location
Singular-value bode plot of the LQG/LTR loop (r=1000)
Grahic Jump Location
Simulation of simultaneous tracking by an LQG/LTR controller
Grahic Jump Location
General control configuration
Grahic Jump Location
Nominal performance and robust stability
Grahic Jump Location
Design Plant Model for nominal performance synthesis
Grahic Jump Location
Performance weighting Wp0
Grahic Jump Location
Analysis plant model for both nominal performance and robust stability
Grahic Jump Location
Simulation of simultaneous tracking by an H controller
Grahic Jump Location
Simultaneous tracking of LQG/LTR: speed outputs
Grahic Jump Location
Simultaneous tracking of LQG/LTR: control inputs
Grahic Jump Location
Disturbance rejection of LQG/LTR: pressure disturbance
Grahic Jump Location
Disturbance rejection of LQG/LTR: Speed outputs
Grahic Jump Location
Disturbance rejection of LQG/LTR: Control inputs
Grahic Jump Location
Simultaneous tracking of H controller: Speed outputs
Grahic Jump Location
Simultaneous tracking of H controller: Control inputs
Grahic Jump Location
Disturbance rejection of H controller: Pressure disturbance
Grahic Jump Location
Disturbance rejection of H controller: Speed outputs
Grahic Jump Location
Disturbance rejection of H controller: Control inputs
Grahic Jump Location
Nominal performance and robust stability norm of the LQG/LTR controller
Grahic Jump Location
Nominal performance and robust stability norm of the H controller

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In