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Wu Baolin
Qiu Lihua
Wang Zhanlin
School of Automation Science and
Electrical Engineering,
Beijing University of
Aeronautics and Astronautics
Beijing 100083, China |
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FOUR WHEELS DRIVEN
INDEPENDENTLY BY ONE PUMP
DRIVING FOUR HYDRAULIC
MOTORS
Abstract: An improved Narendra model reference adaptive control (MRAC) scheme is proposed to research one variable displacement pump driving four hydraulic variable displacement motors. This approach not only ensures the underdamped
and unstable system be global uniform asymptotic stability, but
also has good robustness in these aspects of modeling
uncertainty, pressure fluctuation of constant pressure network,
and disturbance from external load, which also upgrades the
rapidity of system response so as to make controlled system with
nicer dynamic quality. The scheme of one pump driving four motors can meet the demand on off-road mobility of engineering vehicles and armored cars. A proof of stability about improved Narendra MRAC scheme is also given.
Key words:
Constant pressure network Rotational speed control Model reference adaptive control (MRAC) Strict positive realness Global uniform stability
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