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Modeling and control for hydraulic transmission of unmanned ground vehicle

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Abstract

Variable pump driving variable motor (VPDVM) is the future development trend of the hydraulic transmission of an unmanned ground vehicle (UGV). VPDVM is a dual-input single-output nonlinear system with coupling, which is difficult to control. High pressure automatic variables bang-bang (HABB) was proposed to achieve the desired motor speed. First, the VPDVM nonlinear mathematic model was introduced, then linearized by feedback linearization theory, and the zero-dynamic stability was proved. The HABB control algorithm was proposed for VPDVM, in which the variable motor was controlled by high pressure automatic variables (HA) and the variable pump was controlled by bang-bang. Finally, simulation of VPDVM controlled by HABB was developed. Simulation results demonstrate the HABB can implement the desired motor speed rapidly and has strong robustness against the variations of desired motor speed, load and pump speed.

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Authors and Affiliations

  1. School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China

    Yan Wang  (王岩) & Ze Zhang  (张泽)

  2. National Key Laboratory of Vehicular Transmission, China North Vehicle Research Institute, Beijing, 100072, China

    Xu-qing Qin  (秦绪情)

Authors
  1. Yan Wang  (王岩)
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  2. Ze Zhang  (张泽)
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  3. Xu-qing Qin  (秦绪情)
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Corresponding author

Correspondence to Yan Wang  (王岩).

Additional information

Foundation item: Project(51375029) supported by the National Natural Science Foundation of China; Project(20091102120038) supported by Specialized Research Fund for Doctoral Program of Higher Education of China

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Wang, Y., Zhang, Z. & Qin, Xq. Modeling and control for hydraulic transmission of unmanned ground vehicle. J. Cent. South Univ. 21, 124–129 (2014). https://doi.org/10.1007/s11771-014-1923-6

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  • DOI: https://doi.org/10.1007/s11771-014-1923-6

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