Realization of Hull Stability Control System for Continuous Track Vehicle with the Robot Arm

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1 Adanced Science and Technology Letters Vol.86 (Ubiquitous Science and Engineering 05), pp Realization of Hull Stability Control System for Continuous Track Vehicle with the Robot Arm yoo-jae Shin, U-Yeol Jeon, Hyeok-jae Woo Busan Uniersity of Foreign Studies, Busan, orea Abstract. In this paper, the continuous track ehicle with disturbances in the driing condition has the 6 dof motion in the pitching, yawing and rolling directions of two independent axes. The stability control system in such a moing ehicle has to perform disturbance rejection well.. In order to improe the performance of DRR(Disturbance Rejection Ratio) and stabilization, the paper performs the load dynamics by considering a flexible body, unbalance moments, stiction and coulomb frictions, and presents the reduced system modeling and PID controller with disturbance rejection function, low sensitiity and the improed bandwidth frequency. The paper presents PID controller with disturbance rejection function, low sensitiity filter and notch filter for the bending frequency rejection. The performance of a designed system has been certified by the simulation and experiment results. eywords: Disturbance Rejection, Hell stabilization control, 6 dof motion, PID with Filter Introduction The controlled system in a moing ehicle with disturbances has 6 dof motion in the pitching, yawing and rolling directions of two independent axes[]~[9]. The controller in such a system should meet the requirements in disturbance rejection ratio, position accuracy, and elocity and acceleration magnitude. The paper presents PID controller with disturbance rejection function, low sensitiity and notch filter against the bending frequency by the disturbances. The dynamic analysis of mechanical load and seroale flow has been performed by considering the kinetic, potential and dissipation energies. The control scheme has been certified by the simulation using practical disturbances and experiment results which indicates the improement of the system performance in case of the existence of external disturbances. The proposed controllers for axes plants hae been certified by the simulation and experiment results, which hae a good disturbance rejection characteristics and indicate the improement of the system performances in a moing ehicle. Busan Uniersity of Foreign Studies, Dept. of ICT Creatie Conergence, MS course ISSN: 87- ASTL Copyright 05 SERSC

2 Adanced Science and Technology Letters Vol.86 (Ubiquitous Science and Engineering 05) Control System of Continuous Track Vehicle The paper inestigates the axes independent drie planar model of which the azimuth and eleation axes are uncoupled axes. One axis of motion does not affect the other and each axis is independent. The control system is composed of plant, seroale, controller, sight system, elocity input handle and sensors as shown figure. Fig.. Contril System Configuration Mechanical Load and Sero-ale Flow Dynamics The azimuth load, eleation load and electro-hydraulic sero-ale flow dynamics are deried as follows by considering kinetic, potential and dissipation energies[].. Azimuth Axis Dynamics of Hull The azimuth load dynamics represent the rotational motion in the lateral axis. The nonlinear elements described in the azimuth load dynamics include coulomb frictions and dead zone. The equation describing the azimuth dynamics is presented in eq. (). J ( h, t, n, b, gr ) ' ' D ( h, t, m, b, gr ) ' G ( g, t, m, b, gr ) U ( t, m, um ) () Copyright 05 SERSC 97

3 Adanced Science and Technology Letters Vol.86 (Ubiquitous Science and Engineering 05). Eleation Axis Dynamics of Robot Arm The eleation load dynamics represent the rotational motion in the pitch axis. The nonlinear elements described in the eleation load dynamics include coulomb frictions. The equation describing the eleation load dynamics is presented in eq (). J ( h, g, um ) ' ' D ( h, g, um ) ' G ( h, g, um ) U ( g, p, tc ) () In eq () and (), J is a inertia matrix, D presents iscous damping matrix, G is the ector of graitational torques, and U is the ector of applied torques. The dynamics is also characterized by the unbalance moment, stiction and coulomb frictions. Sero-ale Flow Dynamics [0]~[] The second stage sero-ale has been modeled with a second order transfer function as shown in eq. (). G ( s ) V () s s s Where, G ( s ) s s The third stage spool has been modeled as integrator with its spool area. in s s s s (4) s s s 0 Where V 0 M 4 B A e V 0 B k c M 4 B A A e A V 0 c B 4 B A A e 0 c A M The linear model of - stage sero-ale is totally 5 order system in eq () and (4). The order of the sero-ale is reduced by the following conditions; V B M 0 c in eq (4) and the ignorance of ale stiffness eq.(4) is 4 B A A e reduced to eq (5). G ( s ) s (5) 98 Copyright 05 SERSC

4 Adanced Science and Technology Letters Vol.86 (Ubiquitous Science and Engineering 05) Where, G ( s ) A s ( s ) The order function of eq (5) is reduced into the order function of eq (6) due to. s (6) A s s Consequently - stage sero-ale is shown as the reduced model of eq (7). V (7) G ( s ) s in 4 Controller Design 4. Eleation Axis Controller of Robot Arm The Ziegler-Nichols technique does not allow us to design a PID controller to achiee specific closed loop behaior. An analytical technique can be deeloped to determine the PID parameters gien steady state error and performance specifications. The loop gain of a PID controller system is gien by [0]. i ( + s + ) G ( s ) (8) p d s The PID# controller is realized using the eq. (0) and (). The cut-off frequency is selected by trade-off method and total controller is shown as eq. (). cl cl LPF # = S cl cl (9) s s cb BPF# = s s cb cb cb (0) PID #(s) = ( BPF # LPF #) () cp mgc The PID# controller is realized using the eq (), (4) and (5). The cut-off frequency is selected by the aboe procedure. sl sl LPF # = s s sl sl sl () Copyright 05 SERSC 99

5 Adanced Science and Technology Letters Vol.86 (Ubiquitous Science and Engineering 05) s sb sb BPF # = s s sb sb sb () PID #(s) = si ( BPF # LPF # ) (4) sp mgs s The PID# and # controller are realized by the analog circuits of Sallen-ey filters as show in fig., which hae the characteristics of low sensitiity and noninerting gain []. 4. Azimuth Axis Controller of Hull ehicles Simulation and Experiment Result The notch filters are set to [Hz] and 67[Hz]. The notch filter is used to eliminate the structural resonance associated with gear box and the bending frequency in a moing ehicle. The feed forward command is used to improe the system s ability to oercome coulomb friction. The feed forward command enables the control system to build up torque more quickly. The pressure feedback and rd stage feedback help to shape the sero ale response. The pressure feedback compensates the differential load pressure [4][5][6]. 5 Conclusion The paper designs and realizes the controller with disturbance rejection function in a moing ehicle. In order to improe the performance of DRR and stabilization, the paper performs the load dynamics by considering a flexible body, unbalance moments, stiction and coulomb frictions, and presents the reduced system modeling and PID controller with disturbance rejection function, low sensitiity and the improed bandwidth frequency. The proposed controllers for axes plants hae been certified by the simulation and experiment results, which hae a good disturbance rejection characteristics and indicate the improement of the system performances in a moing ehicle. Fig.. Bode Plots (a) PID#, (b) PID# 00 Copyright 05 SERSC

6 Adanced Science and Technology Letters Vol.86 (Ubiquitous Science and Engineering 05) References. awashima,., Uchida, T. and Hori, Y.: Rolling Stability Control Based on Electronic Stabillity Program for In-wheel-motor Electric Vehicle, Es4, Staanger, Norway, 009. Hori, Y.: Future Vehicle drien by Electricity and Control-Research on Four Wheel Motored UOT Electric March II, IEEE Transaction on Industrial Electronics, Vol.5, No.5, pp , Fujimoto, H., Tsumasaka, A., Noguchi, T.: Vehicle Stability Control of Small Electric Vehicle on Snowy Road. JSAE Reiew of Automotie Engineers, Vol. 7, No., pp , Satou, S., Fujimoto, H.: Proposal of Pitching Control for Electric Vehicle with InWheel Motor. IIC-07-8 IEE Japan, pp.65-70, (in Japanese). 5. He, P., Hori, Y: Improement of EV Maneuerability and Safety by Dynamic Force Distribution with Disturbance Obserer, WEVA-Journal, Vol., pp.58-6, Liebemann, E..: Safety and Performace Enhancement: The Bosch Electronic Stability Control (ESP), Robert Bosch GmbH,Germany,Paper Number NTRCI, Doug pape, U: Vehicle Stability and Dynamics Electronic Stability Control Final Report (DTRT-06-G-004),Sptember 0 8. Paine, M.: Vehicle design and Research Pty Limited for Road and Traffic Authority of NSW,June Shaoout, A.: Real Time System in automotie Applications : Vehicle Stability Control, Electrical Engineering Reserch Vol Iss.4, October 0 0. Shahian, B., Hassul, M.: Control System Design Using Matlab. Prentice Hall, 99. rupka, R. M.: Mathematical Simulation of the Dynamics of a Tank. SAE Technical Paper, Series, Paper No.85046,985.. Martin, D. J. and Burrows, C.R.: The Dynamic Characteristics of an Electro-Hydraulic Seroale, Measurement, and Control, Journal of Dynamic Systems, pp ,976.. A. De Pennington, J.J.Mannnetje, R.Bell, The Modelingsof Electro-Hydraulic Control Vales and Its Influence On The design Of Electro-Hydraulic Dries, Journal Mechanical Engineering Science, ol.6,pp , im, H..: Circuit Analysis and Synthesis. IEE, pp9-50, Welch, T. R.: The Use of Deriatie Pressure Feedback in High Performance Hydraulic Seromechanism. Journal of Engineering for Industry, pp8 ~ 4, Bell, R. & A de Pennington: Actie Compensation of Lightly Dampe Electro-hydraulic Cylinder Dries Using Deriatie Signals: Vol. 84, no.4 pp8~ Copyright 05 SERSC 0