SYSTEM IDENTIFICATION AND SLIDING MODE TRACKING CONTROL FOR ELECTRO-HYDRAULIC STEER-BY-WIRE SYSTEM
R. Roman, M., M. Shaaban, S., G. Rabie, M., H. Aly, M. (2021). SYSTEM IDENTIFICATION AND SLIDING MODE TRACKING CONTROL FOR ELECTRO-HYDRAULIC STEER-BY-WIRE SYSTEM. EKB Journal Management System, 172(0), 121-130. doi: 10.21608/erj.2021.210061
Magdy R. Roman; Sayed M. Shaaban; Mohamed G. Rabie; Mohamed H. Aly. "SYSTEM IDENTIFICATION AND SLIDING MODE TRACKING CONTROL FOR ELECTRO-HYDRAULIC STEER-BY-WIRE SYSTEM". EKB Journal Management System, 172, 0, 2021, 121-130. doi: 10.21608/erj.2021.210061
R. Roman, M., M. Shaaban, S., G. Rabie, M., H. Aly, M. (2021). 'SYSTEM IDENTIFICATION AND SLIDING MODE TRACKING CONTROL FOR ELECTRO-HYDRAULIC STEER-BY-WIRE SYSTEM', EKB Journal Management System, 172(0), pp. 121-130. doi: 10.21608/erj.2021.210061
R. Roman, M., M. Shaaban, S., G. Rabie, M., H. Aly, M. SYSTEM IDENTIFICATION AND SLIDING MODE TRACKING CONTROL FOR ELECTRO-HYDRAULIC STEER-BY-WIRE SYSTEM. EKB Journal Management System, 2021; 172(0): 121-130. doi: 10.21608/erj.2021.210061

SYSTEM IDENTIFICATION AND SLIDING MODE TRACKING CONTROL FOR ELECTRO-HYDRAULIC STEER-BY-WIRE SYSTEM

Engineering Research Journal
Article 20, Volume 172, Issue 0, December 2021, Pages 121-130    PDF (921.79 K)
Document Type: Original Article
DOI: 10.21608/erj.2021.210061
Authors
Magdy R. Roman* 1; Sayed M. Shaaban2; Mohamed G. Rabie3; Mohamed H. Aly1
1Mechanical Power Engineering Department, Faculty of Engineering at Mataria, Helwan University, Cairo, Egypt
2Automotive and Tractors Engineering Department, Faculty of Engineering at Mataria, Helwan University, Cairo, Egypt
3Manufacturing and Production Technology Department, Modern Academy, Cairo, Egypt
Abstract
In passenger cars Steer-by-wire (SBW) system is a promising technology in
which a control circuit replaces the mechanical link between the driving
wheel and the vehicle's front wheels. This could improve the design flexibility
and steering capability providing that the steering controller has a good
tracking response to the driver’s demand. In this research, a robust sliding
mode control is designed and implemented to an electro-hydraulic SBW
system. Grey-box system identification approach is used to identify the
parameters of the driven mathematical model. The system is given a standard
input signal, Pseudo Random Multi-level Sequence (PRMS), to be stimulated
in the relevant bandwidth. Then, a robust sliding mode controller is designed,
based on a fixed boundary layer, to provide system stability over a wide range
of operating conditions and system disturbances. Finally, the algorithm is
implemented experimentally in a real-time platform in order to evaluate the
tracking performance. The test signals are designed based on the highest rate
of steering provided by a human driver. The results proved the capability of
the steering system to track the driver’s demand accurately. At high steering
rate conditions (720 degree/s) the maximum overshoot is found to be 3% with
a setling time of 0.1 s.
Keywords
Electro-hydraulic position tracking; Sliding mode control; Graybox system identification; Pseudo random multi-level sequence
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