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Proceedings Paper

Control of an electrohydraulic steering system using a PID controller with a nonlinear compensation algorithm
Author(s): Zhilin Dong; Qin Zhang; Shufeng Han
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Paper Abstract

Hydraulic steering control system is widely used on varieties of vehicles. This paper presents the application of a proportional-integral-derivative (PID) controller with a non-linear compensation algorithm to control an electrohydraulic (E/H) steering system on an agricultural vehicle. In this controller, the non-linear compensation algorithm was used to compensate for the system deadband and saturation of the electrohydraulic steering system and the PID loop was used to minimize the tracking error in steering control. The controller was tested on a Deere 8200 tractor driving on both cement pavement and farm fields. The test results indicate that the nonlinearity compensated PID controller performed well on agricultural vehicle steering control.

Paper Details

Date Published: 17 July 2002
PDF: 9 pages
Proc. SPIE 4715, Unmanned Ground Vehicle Technology IV, (17 July 2002); doi: 10.1117/12.474438
Show Author Affiliations
Zhilin Dong, Univ. of Illinois/Urbana-Champaign (United States)
Qin Zhang, Univ. of Illinois/Urbana-Champaign (United States)
Shufeng Han, Univ. of Illinois/Urbana-Champaign (United States)

Published in SPIE Proceedings Vol. 4715:
Unmanned Ground Vehicle Technology IV
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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