EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method
Electric power steering (EPS) is widely used in tractor automatic driving because of its good operation stability. However, there is a lack of research about solving robust problems and response ability simultaneously when the tractor encounters emergency steering in harsh fields. The traditional ro...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Electrical and Computer Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/5513378 |
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| author | Huanxiao Pang Guangfei Xu Zhicai Song Dianbao Zhao Wenjun Wang Peisong Diao |
| author_facet | Huanxiao Pang Guangfei Xu Zhicai Song Dianbao Zhao Wenjun Wang Peisong Diao |
| author_sort | Huanxiao Pang |
| collection | DOAJ |
| description | Electric power steering (EPS) is widely used in tractor automatic driving because of its good operation stability. However, there is a lack of research about solving robust problems and response ability simultaneously when the tractor encounters emergency steering in harsh fields. The traditional robust controller has poor tracking performance and antidisturbance ability when encountering emergency steering. This paper proposes to add the corresponding mixed sensitivity operator to the corresponding performance index in the controller. By adjusting the amplitude of the mixed sensitivity operator, the tracking performance and the speed of disturbance attenuation can be both adjusted for the tractor EPS system. Simulation and hardware in the loop experiments verify the antidisturbance ability of the controller and the torque tracking performance. The results show that the control method has strong robustness and robust stability, which can meet the practical requirements. Also, the power steering characteristic of the H∞ controller with hybrid sensitivity design method is better than that of an unoptimized one, and its robustness is better, and under external pavement interference, the following ability is stronger for the ideal hand torque and the steering is more stable. |
| format | Article |
| id | doaj-art-ec3233c8b20e4411b3eb4ed48de7bfdc |
| institution | Kabale University |
| issn | 2090-0147 2090-0155 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Electrical and Computer Engineering |
| spelling | doaj-art-ec3233c8b20e4411b3eb4ed48de7bfdc2025-02-03T01:25:14ZengWileyJournal of Electrical and Computer Engineering2090-01472090-01552021-01-01202110.1155/2021/55133785513378EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control MethodHuanxiao Pang0Guangfei Xu1Zhicai Song2Dianbao Zhao3Wenjun Wang4Peisong Diao5College of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaCollege of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaCollege of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaCollege of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaCollege of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaCollege of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaElectric power steering (EPS) is widely used in tractor automatic driving because of its good operation stability. However, there is a lack of research about solving robust problems and response ability simultaneously when the tractor encounters emergency steering in harsh fields. The traditional robust controller has poor tracking performance and antidisturbance ability when encountering emergency steering. This paper proposes to add the corresponding mixed sensitivity operator to the corresponding performance index in the controller. By adjusting the amplitude of the mixed sensitivity operator, the tracking performance and the speed of disturbance attenuation can be both adjusted for the tractor EPS system. Simulation and hardware in the loop experiments verify the antidisturbance ability of the controller and the torque tracking performance. The results show that the control method has strong robustness and robust stability, which can meet the practical requirements. Also, the power steering characteristic of the H∞ controller with hybrid sensitivity design method is better than that of an unoptimized one, and its robustness is better, and under external pavement interference, the following ability is stronger for the ideal hand torque and the steering is more stable.http://dx.doi.org/10.1155/2021/5513378 |
| spellingShingle | Huanxiao Pang Guangfei Xu Zhicai Song Dianbao Zhao Wenjun Wang Peisong Diao EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method Journal of Electrical and Computer Engineering |
| title | EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method |
| title_full | EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method |
| title_fullStr | EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method |
| title_full_unstemmed | EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method |
| title_short | EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method |
| title_sort | eps system of tractor automatic driving an improved lmi with mixed sensitivity control method |
| url | http://dx.doi.org/10.1155/2021/5513378 |
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