0
research-article

Observer-based optimal position control for electro-hydraulic steer-by-wire system using grey-box system identified model

[+] Author and Article Information
Mohamed H. Ali

Assistant Professor, Mechanical Power Engineering Department, Helwan University, Faculty of Engineering at Mataria, Masaken Helmeyt-El-Zaytoon, Cairo, Egypt, PC. 11718
mohamed_hanafy@m-eng.helwan.edu.eg

Magdy R. Roman

Assistant Professor, Mechanical Power Engineering Department, Helwan University, Faculty of Engineering at Mataria, Masaken Helmeyt-El-Zaytoon, Cairo, Egypt, PC. 11718
magdy_roman@m-eng.helwan.edu.eg

Mohamed G. Rabie

Professor, Manufacturing and Production Technology Department, Modern Academy, El-Maddi- 304 St., New Maadi - Saqr Qrysh, Cairo, Egypt
galalrabie@hotmail.com

Sayed M. Shaaban

Professor, Automotive and Tractors Engineering Department, Helwan University, Faculty of Engineering at Mataria, Masaken Helmeyt-El-Zaytoon, Cairo, Egypt, PC. 11718
shaabansayed@rocketmail.com

1Corresponding author.

ASME doi:10.1115/1.4037164 History: Received November 09, 2015; Revised June 10, 2017

Abstract

Steer-by-wire (SBW) systems in a passenger car can improve vehicle steering capability and design flexibility by replacing the mechanical linkage between the steering wheel and front wheels by a control circuit. The steering controller, however, should provide good performance in response to driver's input signal. This includes: fast response, absence of overshoot or oscillatory behavior and good accuracy with minimal steady-state error. In this paper, an optimal control strategy based on observed system states is proposed and implemented on an electro-hydraulic SBW system of a passenger car. First, a linear mathematical model is developed using grey-box system identification techniques. A standard input signal, Pseudo Random Binary Sequence (PRBS), is designed to stimulate the system in the concerned bandwidth. Then, a linear quadratic controller (LQR) together with a full-state system observer is designed. Based on simulation the LQR parameters and the observer poles are chosen to satisfy the aforementioned performance criteria for good steering. Finally, the control strategy is applied in a real-time environment to test the tracking capability, where the system is given high-rate reference signals (relative to the human rate of steering). The results show that the steering system tracks the reference signal with high accuracy even in the existence of high external force disturbances.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

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