Feedforward-plus-proportional-integral-derivative controller for an off-road vehicle electrohydraulic steering system

H Qiu, Q Zhang
2003 Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering  
This paper presents the use of a feedforward-plus-proportional-integral-derivative ( FPID) controller for improving the control performance of the electrohydraulic steering system on an oroad vehicle. The FPID controller used an inverse valve transform in the feedforward loop to compensate for an electrohydraulic steering system deadband and used a conventional PID feedback loop to minimize the tracking error in steering control. On-simulator evaluation tests veri ed that the FPID resulted in a
more » ... superior steering rate tracking performance over both a feedforward controller and a PID controller. On-vehicle evaluation tests veri ed that this FPID controller could achieve prompt and accurate steering angle tracking for agricultural vehicle automated guidance applications.
doi:10.1243/095440703321645089 fatcat:vcv4r7mqbrfetlinjrimt74ciq