Development of Steering Control Algorithms with Self-tuning Fuzzy PID for All-terrain Cranes

被引：0

作者：

Seo, Jaho ^{[1
]}

Cha, Moohyun ^{[2
]}

Oh, Kwangseok ^{[3
]}

Park, Young-Jun ^{[4
]}

Kwon, Tae J. ^{[5
]}

机构：

[1] Ontario Tech Univ, Dept Automot & Mechatron Engn, Oshawa, ON L1G 0C5, Canada

[2] Korea Inst Machinery & Mat, Dept Smart Ind Machine Res, Daejeon 34103, South Korea

[3] Hankyong Natl Univ, Dept Mech Engn, Anseong 17579, South Korea

[4] Seoul Natl Univ, Dept Biosyst & Biomat Sci & Engn, Seoul 08826, South Korea

[5] Univ Alberta, Dept Civil & Env Engn, Edmonton, AB T6G 1H9, Canada

来源：

2020 20TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2020年

关键词：

Steering control algorithm; Co-simulation; All-terrain crane; Self-tuning; Fuzzy PID; Real-time simulator;

D O I：

10.23919/iccas50221.2020.9268346

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The study deals with the design of control algorithms to enhance the steering performance of all-terrain cranes. For this, its hydraulic steering system was modeled using a multiphysics simulation tool and the self-tuning fuzzy PID controller was developed to control hydraulic steering actuators with nonlinearities. The designed control algorithm was validated through co-simulation using a real-time simulator and showed satisfactory performance.

引用

页码：727 / 730

页数：4