Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24637
H. Choset, Ercan U. Acar, Yangang Zhang, M. Schervish
Coverage path planning is the determination of a path that a robot must take in order to pass itself, a detector, or some other effector over each point in an environment. Applications include demining, floor scrubbing, and inspection. In previous work, we developed the boustrophedon cellular decomposition, an exact cellular decomposition approach, for the purposes of coverage. Each cell in the boustrophedon decomposition is covered with simple back and forth motions. Therefore, coverage is reduced to finding an exhaustive path through a graph that represents the adjacency relationships of the cells in the boustrophedon decomposition. Such a path will ensure that a detector passes over all points in the environment, but it does not guarantee that all ordnance is indeed detected because mine detectors have error. Therefore, we also consider probabilistic methods to determine paths for the robot to maximize the likelihood of detecting all ordnance in a target location using a priori known information.
{"title":"Sensor-Based Coverage for Demining: Exact Cellular Decompositions and Uncertain Detectors","authors":"H. Choset, Ercan U. Acar, Yangang Zhang, M. Schervish","doi":"10.1115/imece2001/dsc-24637","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24637","url":null,"abstract":"\u0000 Coverage path planning is the determination of a path that a robot must take in order to pass itself, a detector, or some other effector over each point in an environment. Applications include demining, floor scrubbing, and inspection. In previous work, we developed the boustrophedon cellular decomposition, an exact cellular decomposition approach, for the purposes of coverage. Each cell in the boustrophedon decomposition is covered with simple back and forth motions. Therefore, coverage is reduced to finding an exhaustive path through a graph that represents the adjacency relationships of the cells in the boustrophedon decomposition. Such a path will ensure that a detector passes over all points in the environment, but it does not guarantee that all ordnance is indeed detected because mine detectors have error. Therefore, we also consider probabilistic methods to determine paths for the robot to maximize the likelihood of detecting all ordnance in a target location using a priori known information.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"12 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72994175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24537
A. Stubbs, G. Dullerud
A testbed for networked control of dynamical systems, recently developed by the authors at the University of Illinois, is described. It is comprised of planar aerial vehicles (hovercraft) which use the Bluetooth chipset for wireless communication, and inertial and vision sensing. The testbed is directly connected, via a Linux-based ground station, to a large Internet networking laboratory containing numerous routers, and thus the developed facility has the capability to model numerous wireless and Internet scenarios in networked control.
{"title":"Networked Control of Distributed Systems: A Testbed","authors":"A. Stubbs, G. Dullerud","doi":"10.1115/imece2001/dsc-24537","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24537","url":null,"abstract":"\u0000 A testbed for networked control of dynamical systems, recently developed by the authors at the University of Illinois, is described. It is comprised of planar aerial vehicles (hovercraft) which use the Bluetooth chipset for wireless communication, and inertial and vision sensing. The testbed is directly connected, via a Linux-based ground station, to a large Internet networking laboratory containing numerous routers, and thus the developed facility has the capability to model numerous wireless and Internet scenarios in networked control.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"48 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74995349","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24614
D. Economou, C. Mavroidis, I. Antoniadis
Vibration suppression can be performed by digital filtering the input to the flexible system. Traditional digital filters have been proved to be efficient for vibration suppression, when they are properly designed. In order to ensure the proper filter design, the Delay-Error-Order (DEO) curves are introduced, to be used as a filter design tool. Based on the DEO curves, the vibration suppression properties and capabilities of the filter can be related with the design parameters involved in the traditional filter design methods. Using the DEO curves, the filters designed by means of conventional design methods posses excellent vibration suppression capabilities. This design procedure is presented in detail in this paper and an example of the application of the method is included.
{"title":"Proper Filter Design Procedure for Vibration Suppression Using Delay-Error-Order Curves","authors":"D. Economou, C. Mavroidis, I. Antoniadis","doi":"10.1115/imece2001/dsc-24614","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24614","url":null,"abstract":"\u0000 Vibration suppression can be performed by digital filtering the input to the flexible system. Traditional digital filters have been proved to be efficient for vibration suppression, when they are properly designed. In order to ensure the proper filter design, the Delay-Error-Order (DEO) curves are introduced, to be used as a filter design tool. Based on the DEO curves, the vibration suppression properties and capabilities of the filter can be related with the design parameters involved in the traditional filter design methods. Using the DEO curves, the filters designed by means of conventional design methods posses excellent vibration suppression capabilities. This design procedure is presented in detail in this paper and an example of the application of the method is included.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"2 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74663795","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24510
Alan Pilch, Jay Maudlin, A. Mahajan, T. Chu
This paper presents an intelligent digital image correlation technique that uses genetic algorithms to estimate surface displacements and strains. Speckle patterns are spray painted on the surface of interest and pictures taken before and during loading. Subpixel resolution, required for measuring displacements and strains accurately, is obtained by using interpolation methods. An innovative procedure based on genetic algorithms (GAs) is used that directly gives two displacements and four deformation gradients for a subset being investigated. The genetic algorithms guarantee a solution based on an innovative calibration procedure. The focus of this paper is the description of the GA routine used for the search process as well as the calibration scheme. Results are presented for measuring rigid-body displacement and uniform normal strain as proof of concept. Some potential applications for this work are to extract surface displacements and strains on aircraft, spacecraft and reusable launch vehicles, submarine and ship hulls, civil infrastructures such as bridges, dams and buildings, and biomedical imaging applications.
{"title":"Intelligent Image Correlation Using Genetic Algorithms for Measuring Surface Displacements and Strain Profiles","authors":"Alan Pilch, Jay Maudlin, A. Mahajan, T. Chu","doi":"10.1115/imece2001/dsc-24510","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24510","url":null,"abstract":"\u0000 This paper presents an intelligent digital image correlation technique that uses genetic algorithms to estimate surface displacements and strains. Speckle patterns are spray painted on the surface of interest and pictures taken before and during loading. Subpixel resolution, required for measuring displacements and strains accurately, is obtained by using interpolation methods. An innovative procedure based on genetic algorithms (GAs) is used that directly gives two displacements and four deformation gradients for a subset being investigated. The genetic algorithms guarantee a solution based on an innovative calibration procedure. The focus of this paper is the description of the GA routine used for the search process as well as the calibration scheme. Results are presented for measuring rigid-body displacement and uniform normal strain as proof of concept. Some potential applications for this work are to extract surface displacements and strains on aircraft, spacecraft and reusable launch vehicles, submarine and ship hulls, civil infrastructures such as bridges, dams and buildings, and biomedical imaging applications.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"65 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73841253","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24503
Probir Kumar Ray, N. Unnikrishnan, A. Mahajan
This paper provides a genetic algorithm based approach to calculate the optimal placement of receivers in a 3D position estimation system that uses the difference in the time-of-arrivals (TOA) of an ultrasonic wave from a transmitter to the different receivers fixed in 3D space. This is a different approach to traditional systems that use the actual time-of-flights (TOF) from the transmitter to the different receivers and triangulate the position of the transmitter. The new approach makes the system more accurate, makes the transmitter independent of the receivers and does not require the need of calculating the time delay term that is inherent in traditional systems due to delays caused by the electronic circuitry. This paper presents a thorough analysis of receiver configurations in the 2D and 3D system that lead to singularities, i.e. locations of receivers that lead to formulations that can not be solved due to a shortage of information. It provides guidelines of where not to place receivers, and further, presents a detailed analysis of locations that are optimal, i.e. locations that lead to the most accurate estimation of the transmitter positions. The results presented in this paper are not only applicable to ultrasonic systems, but all systems that use wave theory, e.g. infrared, laser, etc. This work finds applications in virtual reality cells, robotics, guidance of indoor autonomous vehicles and vibration analysis.
{"title":"Optimal Configuration of Ultrasonic Sensors in a 3D Position Estimation System Using Genetic Algorithms","authors":"Probir Kumar Ray, N. Unnikrishnan, A. Mahajan","doi":"10.1115/imece2001/dsc-24503","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24503","url":null,"abstract":"\u0000 This paper provides a genetic algorithm based approach to calculate the optimal placement of receivers in a 3D position estimation system that uses the difference in the time-of-arrivals (TOA) of an ultrasonic wave from a transmitter to the different receivers fixed in 3D space. This is a different approach to traditional systems that use the actual time-of-flights (TOF) from the transmitter to the different receivers and triangulate the position of the transmitter. The new approach makes the system more accurate, makes the transmitter independent of the receivers and does not require the need of calculating the time delay term that is inherent in traditional systems due to delays caused by the electronic circuitry. This paper presents a thorough analysis of receiver configurations in the 2D and 3D system that lead to singularities, i.e. locations of receivers that lead to formulations that can not be solved due to a shortage of information. It provides guidelines of where not to place receivers, and further, presents a detailed analysis of locations that are optimal, i.e. locations that lead to the most accurate estimation of the transmitter positions. The results presented in this paper are not only applicable to ultrasonic systems, but all systems that use wave theory, e.g. infrared, laser, etc. This work finds applications in virtual reality cells, robotics, guidance of indoor autonomous vehicles and vibration analysis.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"99 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74255800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24543
C. Spitas, T. Costopoulos
A new model of improved accuracy is proposed for the simulation of the dynamic behavior of a pair of spur gears that are free from manufacturing and mounting errors. The load-induced expansion of the actual path of contact with the occurrence of tooth edge contact is taken into account in order to better explain the tooth load sharing process near the lowest and highest point of single tooth contact (LPSTC, HPSTC). In addition, an accurate friction model is utilised and the effect of elastohydrodynamic lubricant film formation on gear vibration is taken into account. Simulation results are extracted for various operating speeds and an evaluation of the proposed model is conducted. The model is constructed in a modular fashion and can consequently be used as a building block for larger mechanisms, such as gear trains and multi-stage gearboxes.
{"title":"A New Model of Improved Accuracy for the Dynamic Behavior of Spur Gears","authors":"C. Spitas, T. Costopoulos","doi":"10.1115/imece2001/dsc-24543","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24543","url":null,"abstract":"\u0000 A new model of improved accuracy is proposed for the simulation of the dynamic behavior of a pair of spur gears that are free from manufacturing and mounting errors. The load-induced expansion of the actual path of contact with the occurrence of tooth edge contact is taken into account in order to better explain the tooth load sharing process near the lowest and highest point of single tooth contact (LPSTC, HPSTC). In addition, an accurate friction model is utilised and the effect of elastohydrodynamic lubricant film formation on gear vibration is taken into account. Simulation results are extracted for various operating speeds and an evaluation of the proposed model is conducted. The model is constructed in a modular fashion and can consequently be used as a building block for larger mechanisms, such as gear trains and multi-stage gearboxes.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"33 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81703508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24597
R. Rajamani, Ankur Shrivastava
This paper develops an explicit design methodology for development of observer-based sensor health monitoring systems using Linear Matrix Inequalities. The developed methodology applies to linear parameter-varying systems with three or more sensors in which the state is observable through any one of the sensors. A fault in any of the system sensors can be uniquely identified by the diagnostic system. The developed methodology is applied to health monitoring of the lateral sensors on a GPS-controlled truck. A set of three sensors on the truck consisting of a GPS system, a lateral accelerometer and a yaw-rate gyroscope is considered. The performance of the fault diagnostic system is documented from extensive experimental results. Experimental results show that the fault diagnostic system can correctly detect a failure in any of the 3 sensors and accurately identify the source of the fault.
{"title":"Fault Diagnostic System Design Using LMIs, With Applications to Health Monitoring for GPS-Based Lateral Vehicle Control","authors":"R. Rajamani, Ankur Shrivastava","doi":"10.1115/imece2001/dsc-24597","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24597","url":null,"abstract":"\u0000 This paper develops an explicit design methodology for development of observer-based sensor health monitoring systems using Linear Matrix Inequalities. The developed methodology applies to linear parameter-varying systems with three or more sensors in which the state is observable through any one of the sensors. A fault in any of the system sensors can be uniquely identified by the diagnostic system.\u0000 The developed methodology is applied to health monitoring of the lateral sensors on a GPS-controlled truck. A set of three sensors on the truck consisting of a GPS system, a lateral accelerometer and a yaw-rate gyroscope is considered. The performance of the fault diagnostic system is documented from extensive experimental results. Experimental results show that the fault diagnostic system can correctly detect a failure in any of the 3 sensors and accurately identify the source of the fault.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"40 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85624481","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24622
T.K. Podder, N. Sarkar
An approach to the allocation of thruster forces of an autonomous underwater vehicle (AUV) is investigated in this paper. Generally, the number of thrusters in an AUV is more than what is minimally required to produce the desired motion. This paper presents a framework that exploits the excess number of thrusters to accommodate thruster faults during operation. First, a redundancy resolution scheme is presented that takes into account the presence of excess number of thrusters along with any thruster faults, and determines the reference thruster forces to produce the desired motion. This framework is then extended to incorporate a dynamic state feedback technique to generate reference thruster forces that are within the saturation limit of each thruster. These reference thruster forces are utilized in the thruster controller to generate the required motion. This approach resolves the thruster redundancy in the Cartesian space and allows the AUV to track the task-space trajectories with asymptotic reduction of the task-space errors. Results from computer simulations are provided to demonstrate the viability of the proposed scheme.
{"title":"A Fault Accommodating Control of an Autonomous Underwater Vehicle Under Thruster Redundancy and Saturation","authors":"T.K. Podder, N. Sarkar","doi":"10.1115/imece2001/dsc-24622","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24622","url":null,"abstract":"\u0000 An approach to the allocation of thruster forces of an autonomous underwater vehicle (AUV) is investigated in this paper. Generally, the number of thrusters in an AUV is more than what is minimally required to produce the desired motion. This paper presents a framework that exploits the excess number of thrusters to accommodate thruster faults during operation. First, a redundancy resolution scheme is presented that takes into account the presence of excess number of thrusters along with any thruster faults, and determines the reference thruster forces to produce the desired motion. This framework is then extended to incorporate a dynamic state feedback technique to generate reference thruster forces that are within the saturation limit of each thruster. These reference thruster forces are utilized in the thruster controller to generate the required motion. This approach resolves the thruster redundancy in the Cartesian space and allows the AUV to track the task-space trajectories with asymptotic reduction of the task-space errors. Results from computer simulations are provided to demonstrate the viability of the proposed scheme.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"37 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78403563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24511
R. Shoureshi, B. Terry
As industrial competition intensifies, and more emphasis is placed on increased productivity and cost reduction, the development of a means to automatically monitor and assess the health of plant equipment becomes more important. This paper presents results of our research that integrates advances in the use of feature extraction, artificial neural networks, and communication/networking techniques for remote health assessment and failure diagnostics of laboratory and industrial rotating machinery. The key features of this effort are the ability to use internet for remote diagnostics, and combined Welch’s transformation and neural networks for signature creation and analysis.
{"title":"Neural-Based Remote Health Assessment and Failure Diagnostics","authors":"R. Shoureshi, B. Terry","doi":"10.1115/imece2001/dsc-24511","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24511","url":null,"abstract":"\u0000 As industrial competition intensifies, and more emphasis is placed on increased productivity and cost reduction, the development of a means to automatically monitor and assess the health of plant equipment becomes more important. This paper presents results of our research that integrates advances in the use of feature extraction, artificial neural networks, and communication/networking techniques for remote health assessment and failure diagnostics of laboratory and industrial rotating machinery. The key features of this effort are the ability to use internet for remote diagnostics, and combined Welch’s transformation and neural networks for signature creation and analysis.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"32 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90564441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24564
Rong Zhang, Eko Prasetiawan, A. Alleyne
Coordination of the power distribution in a Multi-Input Multi-Output (MIMO) electrohydraulic transmission is investigated for the case of an earthmoving vehicle powertrain. A generalized model of a representative system is presented along with the development of both H2 and H∞ MIMO controller designs. The controllers are developed based on a linearized model of the system about some nominal operating point Multiple inputs are coordinated to control multiple load outputs simultaneously. Since typical MIMO electrohydraulic transmission systems have significant nonlinear dynamics that vary with system operating conditions, a robust controller design is paramount The increased robustness of the H∞ controller over the H2 scheme is demonstrated qualitatively in the time domain through both disturbance rejection and trajectory tracking comparisons. A frequency domain criterion quantitatively provides quantifiable comparisons between the two methods. Hardware-in-the-Loop experiments validate the modeling and control performance on an Earthmoving Vehicle Powertrain Simulator (EVPS).
{"title":"Modeling and Multivariable Control of an Earthmoving Vehicle Powertrain","authors":"Rong Zhang, Eko Prasetiawan, A. Alleyne","doi":"10.1115/imece2001/dsc-24564","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24564","url":null,"abstract":"\u0000 Coordination of the power distribution in a Multi-Input Multi-Output (MIMO) electrohydraulic transmission is investigated for the case of an earthmoving vehicle powertrain. A generalized model of a representative system is presented along with the development of both H2 and H∞ MIMO controller designs. The controllers are developed based on a linearized model of the system about some nominal operating point Multiple inputs are coordinated to control multiple load outputs simultaneously. Since typical MIMO electrohydraulic transmission systems have significant nonlinear dynamics that vary with system operating conditions, a robust controller design is paramount The increased robustness of the H∞ controller over the H2 scheme is demonstrated qualitatively in the time domain through both disturbance rejection and trajectory tracking comparisons. A frequency domain criterion quantitatively provides quantifiable comparisons between the two methods. Hardware-in-the-Loop experiments validate the modeling and control performance on an Earthmoving Vehicle Powertrain Simulator (EVPS).","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"21 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90252806","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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