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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Modeling, Control, and Validation of an Electro-Hydraulic Steer-by-Wire System for Articulated Vehicle Applications
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Modeling, Control, and Validation of an Electro-Hydraulic Steer-by-Wire System for Articulated Vehicle Applications

机译：铰接式车辆应用的电动液压线控转向系统的建模，控制和验证

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X-by-wire control systems in automotive applications refer to systems where the input device used by the operator is connected to the actuation power subsystem by electrical wires, as opposed to being connected by mechanical or hydraulic means. The "X" in the X-by-wire is replaced by "steer," "throttle," and "brake" to represent the steer-by-wire, throttle-by-wire, and brake-by-wire systems. Common to all of these subsystems is that the operator control input device (i.e., steering column, acceleration pedal, and brake pedal) is not connected to the actuation devices mechanically. Rather, it is connected to an embedded computer which, in turn, sends the control signals to the actuation devices. Current state of art steering systems used in articulated vehicles are hydro-mechanical type systems, i.e., the steering column motion is transmitted and amplified by the main hydraulic circuit by hydro-mechanical means. This paper presents a new steer-by-wire (SBW) system which we designed, modeled, analyzed, and tested on wheel type loader construction equipment. The simulation results and tests conducted on a prototype development vehicle (a medium size wheel type loader) show very good agreement. The control algorithm is modeled using graphical modeling tools similar to Simulink and StateFlow. A real-time control algorithm is implemented on a Motorola 68332 microprocessor-based embedded controller. The operational performance of the steer-by-wire system has been convincingly demonstrated.
机译：汽车应用中的线控X-X线控制系统是指操作员使用的输入设备通过电线连接到致动动力子系统的系统，而不是通过机械或液压方式连接的系统。线控转向系统中的“ X”被“转向”，“油门”和“制动”所代替，代表线控转向，线控油门和线控制动系统。所有这些子系统的共同点是，操作员控制输入设备（即转向柱，加速踏板和制动踏板）未机械连接至致动设备。而是将其连接到嵌入式计算机，后者再将控制信号发送到致动设备。铰接车辆中使用的现有技术的转向系统是液压机械式系统，即，转向柱的运动通过液压机械装置由主液压回路传递和放大。本文介绍了一种新的线控转向（SBW）系统，我们在轮式装载机建筑设备上进行了设计，建模，分析和测试。在原型开发车辆（中型轮式装载机）上进行的仿真结果和测试显示出很好的一致性。使用类似于Simulink和StateFlow的图形建模工具对控制算法进行建模。实时控制算法在基于Motorola 68332微处理器的嵌入式控制器上实现。令人信服地证明了线控转向系统的操作性能。

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