High Pressure Automatic Displacement Backstepping for the Variable Pump Driving Variable Motor of an Unmanned Ground Vehicle

Abstract

The variable pump driving variable motor (VPDVM) is the future trends of the development 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. A novel control algorithm, high pressure automatic displacement back stepping (HABS), is proposed to achieve the desired motor speed, in which the variable motor is controlled by high pressure automatic displacement (HA) and the variable pump is controlled by back stepping algorithm. The stability of the VPDVM controlled by HABS is proved based on the Lyapunov stability theorem. Numerical simulations and experimental results of the VPDVM are provided to demonstrate the feasibility and strong robustness of the HABS.