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Research Papers

Observer-Based Optimal Position Control for Electrohydraulic Steer-by-Wire System Using Gray-Box System Identified Model

[+] Author and Article Information
Mohamed Aly

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

Magdy Roman

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

Mohamed Rabie

Professor
Manufacturing and Production
Technology Department,
Modern Academy,
El-Maddi- 304 Street, New Maadi—Saqr Qrysh,
Cairo 11728, Egypt
e-mail: galalrabie@hotmail.com

Sayed Shaaban

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

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 9, 2015; final manuscript received June 10, 2017; published online August 9, 2017. Assoc. Editor: Azim Eskandarian.

J. Dyn. Sys., Meas., Control 139(12), 121002 (Aug 09, 2017) (9 pages) Paper No: DS-15-1561; doi: 10.1115/1.4037164 History: Received November 09, 2015; Revised June 10, 2017

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 electrohydraulic SBW system of a passenger car. First, a linear mathematical model is developed using gray-box system identification techniques. A standard input signal, pseudorandom binary sequence (PRBS), is designed to stimulate the system in the concerned bandwidth. Then, a linear-quadratic regulator (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.

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Figures

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Fig. 1

Schematic diagram of the front-wheel angle control system

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Fig. 2

Servo-solenoid valve with double-rod hydraulic cylinder configuration

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Fig. 3

Bode plot of the electrohydraulic steering system

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Fig. 4

(a) Designed PRBS input signal and (b) power spectrum of the designed PRBS input signal

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Fig. 5

Electrohydraulic steering system inside the test vehicle

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Fig. 6

Hydraulic cylinder displacement signal as a response of the designed PRBS input signal

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Fig. 7

Comparison between identified model and real system output signals

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Fig. 8

Comparison between frequency response of the identified model and the real physical system

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Fig. 9

Block diagram of the observer-based controller

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Fig. 10

Schematic diagram of the test rig used for experimental evaluation

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Fig. 11

Tracking performance for a ramp signal without external force disturbances

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Fig. 12

Control input for ramp signal without external force disturbances

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Fig. 13

Response to a sinusoidal signal (amplitude: 1 cm, frequency: 1 Hz) without external force disturbances

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Fig. 14

Control input for a sinusoidal signal (amplitude: 1 cm, frequency: 1 Hz) without external force disturbances

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Fig. 15

Response to a sinusoidal signal (amplitude: 0.5 cm, frequency: 2 Hz) without external force disturbances

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Fig. 16

Control input for a sinusoidal signal (amplitude: 0.5 cm, frequency: 2 Hz) without external force disturbances

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Fig. 17

Tracking performance for a ramp signal with external force disturbances

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Fig. 18

Control input for ramp signal with external force disturbances

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Fig. 19

Response to a sinusoidal signal (amplitude: 1 cm, frequency: 1 Hz) with external force disturbances

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Fig. 20

Control input for a sinusoidal signal (amplitude: 1 cm, frequency: 1 Hz) with external force disturbances

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Fig. 21

Response to a sinusoidal signal (amplitude: 0.5 cm, frequency: 2 Hz) with external force disturbances

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Fig. 22

Control input for a sinusoidal signal (amplitude: 0.5 cm, frequency: 2 Hz) with external force disturbances

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