Coordination of the power distribution in a Multi-Input Multi-Output (MIMO) electro-hydraulic transmission is investigated for the case of an earthmoving vehicle powertrain. A generalized model of a representative system is presented along with the development of both and MIMO controller designs. The controllers are developed based on a linearized model of the system about some nominal operating point. Multiple inputs are coordinated to control multiple load outputs simultaneously. Since typical MIMO electrohydraulic transmission systems have significant nonlinear dynamics that vary with system operating conditions, a robust controller design is paramount. The increased robustness of the controller over the scheme is demonstrated qualitatively in the time domain through both disturbance rejection and trajectory tracking comparisons. A frequency domain criterion quantitatively provides quantifiable comparisons between the two methods. Hardware-in-the-Loop experiments validate the modeling and control performance on an Earthmoving Vehicle Powertrain Simulator (EVPS).
Modeling and MIMO Control of an Earthmoving Vehicle Powertrain
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, May 2001; final revision, December 2001. Associate Editor: Y. Chait.
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Zhang, R., Alleyne, A., and Prasetiawan, E. (December 16, 2002). "Modeling and MIMO Control of an Earthmoving Vehicle Powertrain ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 625–636. https://doi.org/10.1115/1.1515326
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