Nonlinear backstepping control of a hydraulic simulator for reference road input

Abstract

In this paper, the problem of reference tracking was investigated for a road simulator system from the perspective of control theory. The suggested control signal is obtained from a nonlinear backstepping control algorithm. This design is used to mirror the road displacement signal in the test system containing a vehicle system that incorporates a hydraulic piston. The performance of the proposed controller is evaluated in the time and frequency domains, with the primary criterion being that the displacement of the test road irregularities created by the hydraulic piston is accurately reflected to the vehicle. Additionally, the frequency densities of the signals transmitted to the vehicle are expected to match the real road data. Real road signals for land vehicles are used as the reference input signals. We demonstrate the effectiveness of the control signal through the results obtained in a laboratory environment.

Keywords

• Hydraulic system
• Hydraulic road simulator
• Backstepping control
• Servo control

Referans yol girişi için hidrolik simülatörün doğrusal olmayan geriadımlamalı kontrolü

Öz

Bu çalışmada, kontrol teorisi perspektifinden, yol simülatör sistemi için referans takip problemi araştırılmıştır. Önerilen kontrol sinyali doğrusal olmayan bir geri adımlı kontrol algoritması üzerinden elde edilmiştir. Bu tasarım, hidrolik piston içeren bir taşıt sisteminden oluşan test sisteminde yol deplasman sinyalini yansıtmak için kullanılır. Önerilen kontrolcünün performansı zaman ve frekans alanlarında değerlendirilip, kontrol tasarımının temel gayesi hidrolik piston tarafından oluşturulan test yolu düzensizliklerinin yer değiştirmesinin araca doğru bir şekilde yansıtılmasıdır. Ayrıca, araca aktarılan sinyallerin frekans yoğunluklarının da gerçek yol sinyalleriyle eşleşmesi beklenmektedir. Kara taşıtları için gerçek yol verileri kontrol algoritmasındaki referans giriş sinyali olarak kullanılmıştır. Bir laboratuvar ortamında elde edilen sonuçlar üzerinden kontrol sinyalinin etkinliği gösterilmiştir.

Anahtar Kelimeler

• Hidrolik sistem
• Hidrolik yol simülatörü
• Geri-adımlamalı kontrol
• Servo kontro

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