Autors: Mitov, A. S., Kralev, J. K., Slavov, T. N., Angelov, I. I.
Title: Real-time LQG control strategies for electrohydraulic steering of mobile machines
Keywords: electrohydraulic steering system, Kalman filter, linear-quadratic Gaussian (LQG) control, real-time

Abstract: The main aim of the article is to compare two real-time control strategies for electrohydraulic power steering system of modern mobile machines with Linear-quadratic Gaussian (LQG) controllers. The both modification of LQG controller are designed on the basis of two multivariable uncertain plant models. The plant models are obtained by identification procedure via "black box" approach and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the models. The difference between the two modifications of the embedded controllers lies in the different types of output signals, which are used as feedback in control system. The comparative analysis of time and frequency domain properties of controllers are performed. The results obtained show the better performance of one system. The control algorithms are implemented in 32-bit microcontroller. A number of experiments have been executed.

References

    Issue

    21st International Symposium on Electrical Apparatus and Technologies, SIELA 2020, pp. 294-297, 2020, Bulgaria, Institute of Electrical and Electronics Engineers (IEEE) Inc., DOI: 10.1109/SIELA49118.2020.9167047

    Copyright Institute of Electrical and Electronics Engineers (IEEE) Inc.

    Вид: публикация в международен форум, публикация в реферирано издание, индексирана в Scopus