Title: Improved inner-loop decentralised control of electrohydraulic actuators in road simulation

Authors: Beshahwired Ayalew

Addresses: Clemson University, International Center for Automotive Research, 4 Research Dr., Room 342 CGEC, Greenville, SC 29607, USA

Abstract: In this paper, a non-linear position tracking controller that globally linearises the dynamics of an electrohydraulic actuator is derived. This controller and a linear controller are both implemented in a decentralised manner within a simulation model of a four-post road simulator. It is found that, for a typical road profile and a transit bus as the test vehicle, a position-tracking error metric is improved by over 60%. Matching of sprung mass vertical acceleration PSDs is improved by over 50%. Furthermore, suitable actuator interaction measures showed that, for the test cases, position loop interactions are quickly eliminated by either controller type.

Keywords: four-post road simulation; electrohydraulic actuators; feedback linearisation; decentralised control; actuator interaction; vehicle testing; full bus model; transit buses.

DOI: 10.1504/IJVSMT.2008.020620

International Journal of Vehicle Systems Modelling and Testing, 2008 Vol.3 No.1/2, pp.94 - 113

Published online: 03 Oct 2008 *

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