Title: Modelling and simulation of an electrohydraulic steering system

Authors: H.C. Qiu, Q. Zhang, J.F. Reid, D. Wu

Addresses: Department of Agricultural Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois, USA. Department of Agricultural Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois, USA. Department of Agricultural Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois, USA

Abstract: The development of an electrohydraulic (E/H) steering system model for an off-road vehicle and the simulation results are presented. This model consists of the main subsystems of an E/H steering system, including a PWM driver, a proportional E/H directional control valve, two steering actuating cylinders, a steering linkage, and wheel-ground interactions. The model is linearised based on the assumptions of incompressible fluid, critical lapped valve, and frictionless spool motion. The linearised model is simulated using MATLAB Simulink and validated on field steering tests using a full-scale vehicle. The results indicate that a linearised model of third-order, with compensation for the system deadband, saturation, and time delay, is capable of satisfactorily representing the dynamic responses of the E/H steering system within steering angle range of -10° and 10°. This validated linear model is capable of estimating the dynamic behaviour of the E/H steering system, and providing critical information for designing high performance steering controllers for off-road vehicles.

Keywords: dynamic model; dynamic simulation; nonlinear system; electrohydraulic system; steering system; off-road vehicles.

DOI: 10.1504/IJVD.2001.001936

International Journal of Vehicle Design, 2001 Vol.26 No.2/3, pp.161-174

Published online: 14 Dec 2003 *

Full-text access for editors Access for subscribers Purchase this article Comment on this article