H∞ Robust Control Design for Hydraulic Front Wheel Drive Speed Control of a Motor Grader

2003 ◽  
Author(s):  
William D. Robinson ◽  
Atul G. Kelkar
Keyword(s):  
Controller Design ◽  
Air Entrainment ◽  
Front Wheel ◽  
Fluid Temperature ◽  
Performance Guarantees ◽  
Uncertainty Model ◽  
Wheel Drive ◽  
Drive Speed ◽  
Robust Control Design ◽  
H Design

A dual-mode H∞ robust tracking controller design is presented to regulate the speed of a hydraulic front wheel drive system on a motor grader. The controller design uses a multiplicative unstructured uncertainty model to account for the un-modeled dynamics of the plant and parametric uncertainties such as variations in fluid temperature and air entrainment. The H∞ design is compared to a classical PI controller design, which is the existing industrial practice. It is shown that the H∞ design provides a higher level of stability robustness and better performance guarantees, which make it a viable candidate for motor grader application.

Comparison of Methods for Dynamic Yaw Control on Vehicles With Multiple Electric Motors: A Literature Review

2008 ◽  
Author(s):  
James A. D’Iorio ◽  
Joel Anstrom ◽  
Moustafa El-Gindy
Keyword(s):  
Controller Design ◽  
Cost Effective ◽  
Rear Wheel ◽  
Front Wheel ◽  
The Body ◽  
Electric Motors ◽  
Sideslip Angle ◽  
Yaw Control ◽  
Wheel Drive ◽  
Detailed Simulation

A literature survey is conducted that compares the body of work written about dynamic yaw-moment control (DYC) systems implemented on vehicles with multiple electric motors. Four wheel drive, rear wheel drive, and front wheel drive vehicle architectures are compared with reference to advantages for DYC systems followed by a discussion on controller design. Advantages are weighed as to whether it is better to control vehicle yaw rate, body sideslip angle, or both. Next, methods for implementing the DYC system are evaluated. Sensors used, estimations made, and controller-type utilized are all discussed. Lastly, methods for simulation and testing are reviewed. The survey suggests that little progress has been made on front wheel drive vehicles. It was also determined that more work needs to be conducted on deciding desirable vehicle dynamics for handling. Investigations should be conducted to make these systems cost-effective and robust enough for production. Finally, future studies should include as much detailed simulation work and actual vehicle testing as possible as both are needed for a complete DYC investigation.

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive

scholarly journals Ground maneuver for front-wheel drive aircraft via deep reinforcement learning

2021 ◽  
Author(s):  
Hao Zhang ◽  
Zongxia Jiao ◽  
Yaoxing Shang ◽  
Xiaochao Liu ◽  
Pengyuan Qi ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Front Wheel ◽  
Wheel Drive

scholarly journals Network-aware Controller Design with Performance Guarantees for Linear Wireless Systems

2020 ◽  
pp. 1-1
Author(s):  
Andre Marcorin de Oliveira ◽  
Vineeth Satheeskumar Varma ◽  
Romain Postoyan ◽  
Irinel-Constantin Morarescu ◽  
Jamal Daafouz ◽  
...  
Keyword(s):  
Controller Design ◽  
Wireless Systems ◽  
Performance Guarantees

Design Considerations for Full-Size, Front-Wheel-Drive Vehicles

1975 ◽  
Author(s):  
Donald L. Nordeen ◽  
Richard C. Manwaring ◽  
Dennis E. Condon
Keyword(s):  
Front Wheel ◽  
Full Size ◽  
Design Considerations ◽  
Wheel Drive

Modeling of nonlinear torsional vibration of the automotive powertrain

2016 ◽  
Vol 24 (9) ◽  
pp. 1774-1786 ◽  
Author(s):  
Sérgio J Idehara ◽  
Fernando L Flach ◽  
Douglas Lemes
Keyword(s):  
Natural Frequency ◽  
Torsional Vibration ◽  
Degrees Of Freedom ◽  
Front Wheel ◽  
Torsional Stiffness ◽  
Bench Test ◽  
Passenger Car ◽  
Engine Torque ◽  
Friction Moment ◽  
Wheel Drive

A vibration model of the powertrain can be used to predict its dynamic behavior when excited by fluctuations in the engine torque and speed. The torsional vibration resulting from torque and speed fluctuations increases the rattle noise in the gearbox and it should be controlled or minimized in order to gain acceptance by clients and manufactures. The fact that the proprieties of the torsional damper integrated into the clutch disc alter the dynamic characteristic of the system is important in the automotive industry for design purposes. In this study, bench test results for the characteristics of a torsional damper for a clutch system (torsional stiffness and friction moment) and powertrain torsional vibration measurements taken in a passenger car were used to verify and calibrate the model. The adjusted model estimates the driveline natural frequency and the time response vibration. The analysis uses order tracking signal processing to isolate the response from the engine excitation (second-order). It is shown that a decrease in the stiffness of the clutch disc torsional damper lowers the natural frequency and an increase in the friction moment reduces the peak amplitude of the gearbox torsional vibration. The formulation and model adjustment showed that a nonlinear model with three degrees of freedom can represent satisfactorily the powertrain dynamics of a front-wheel drive passenger car.

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