Modeling and control for hydraulic transmission of unmanned ground vehicle
来源期刊：中南大学学报(英文版)2014年第1期
论文作者：WANG Yan(王岩) ZHANG Ze(张泽) QIN Xu-qing(秦绪情)
文章页码：124 - 129
Key words：unmanned ground vehicle; hydraulic; nonlinear system; high pressure automatic variables; bang-bang
Abstract: Variable pump driving variable motor (VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle (UGV). VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. High pressure automatic variables bang-bang (HABB) was proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model was introduced, then linearized by feedback linearization theory, and the zero-dynamic stability was proved. The HABB control algorithm was proposed for VPDVM, in which the variable motor was controlled by high pressure automatic variables (HA) and the variable pump was controlled by bang-bang. Finally, simulation of VPDVM controlled by HABB was developed. Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed, load and pump speed.
WANG Yan(王岩)1, ZHANG Ze(张泽)1, QIN Xu-qing(秦绪情)2
(1. School of Transportation Science and Engineering, Beihang University, Beijing 100191, China;
2. National Key Laboratory of Vehicular Transmission, China North Vehicle Research Institute,
Beijing 100072, China)
Abstract:Variable pump driving variable motor (VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle (UGV). VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. High pressure automatic variables bang-bang (HABB) was proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model was introduced, then linearized by feedback linearization theory, and the zero-dynamic stability was proved. The HABB control algorithm was proposed for VPDVM, in which the variable motor was controlled by high pressure automatic variables (HA) and the variable pump was controlled by bang-bang. Finally, simulation of VPDVM controlled by HABB was developed. Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed, load and pump speed.
Key words:unmanned ground vehicle; hydraulic; nonlinear system; high pressure automatic variables; bang-bang
