Cross-coupling control of multi-axis steering system based on sliding mode and PI method
Journal Title: Science Paper Online - Year 2010, Vol 5, Issue 1
Abstract
Taking a construction vehicle which is independent driven by 8-axis steering system as the study prototype, the cross-coupling control strategy is discussed to improve the contour accuracy. The kinematic analysis of multi-axis steering system and consistent coupling error is introduced. According to the working principle of electro-hydraulic servo mechanism, the mathematical model of single steering mechanism is established. In order to reduce the coupling error caused by different load disturbance between the different steering axes, the sliding mode control for the position tracking of the single-axis is designed. Meanwhile, a crossing-coupling controller based on PI algorithm is proposed to compensate the consistent coupling error. Thus, position tracking and contour accuracy of multi-axis steering system is achieved. Taking the longitudinal steering system for example, the simulation results prove the effectiveness of the control algorithm.
Authors and Affiliations
Yuxi Hou, Liman Yang
Keywords
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