Hydraulic slip compensation systems and methods
Techniques are disclosed for systems and methods to provide accurate positioning for a hydraulic steering system without a need for a steering reference transducer. A hydraulic steering system may include a logic device in communication with an autopilot pump controller. Control and sensor signals provided by the pump controller are used to determine a linear or uncompensated steering actuator speed and an estimate of the hydraulic elasticity of the steering system, which can be modeled as an estimate of the air volume trapped within the steering system. The hydraulic elasticity/air volume estimate is used to determine a corrected or compensated steering actuator speed, and the corrected steering actuator speed is used to accurately control the steering system.
1. A method comprising:
determining a linear rudder speed based, at least in part, on a pump control signal for controlling a hydraulic steering system of a mobile structure;
determining an elasticity estimate for the hydraulic steering system;
determining a virtual rudder estimate from a corrected rudder speed, wherein the corrected rudder speed is based, at least in part, on the linear rudder speed, the pump control signal, and/or the elasticity estimate; and
transmitting an updated pump control signal based, at least in part, on the virtual rudder estimate, to the hydraulic steering system.
2. The method of claim 1 , further comprising determining the linear rudder speed based, at least in part, on the pump control signal, a pump sensor signal, and/or a linear balancing coefficient for the hydraulic steering system.
3. The method of claim 1 , further comprising determining the elasticity estimate by receiving the elasticity estimate as user input from a user interface and/or by retrieving the elasticity estimate from a machine readable medium.
4. The method of claim 1 , further comprising:
determining a virtual rudder error based, at least in part, on a prior virtual rudder estimate; and
determining the elasticity estimate based, at least in part, on the virtual rudder error.
5. The method of claim 4 , further comprising:
receiving a yaw rate for the mobile structure;
determining the virtual rudder error based, at least in part, on the prior virtual rudder estimate and the yaw rate; and
determining the elasticity estimate by accumulating the virtual rudder error and/or a phase advance compensated virtual rudder error.
6. The method of claim 4 , further comprising:
receiving a rudder limit for the hydraulic steering system;
determining a taper coefficient based on the rudder limit and the prior virtual rudder estimate; and
tapering the virtual rudder error by scaling the virtual rudder error by the taper coefficient prior to determining the elasticity estimate.
7. The method of claim 4 , wherein the corrected rudder speed is additionally based on a bleed balancing component, and wherein the bleed balancing component comprises the virtual rudder error scaled by a proper fraction with a value less than one-half.
8. The method of claim 1 , further comprising:
receiving a measured heading, a target heading, and/or a heading validity status for the mobile structure;
determining the mobile structure is experiencing a course change based, at least in part, on the measured heading, the target heading, and/or the heading validity status; and
setting a virtual rudder error to zero before determining the elasticity estimate and/or a bleed balancing component.
9. The method of claim 1 , further comprising:
determining that the hydraulic steering system is in a non-accumulation cycle; and
setting a virtual rudder error to zero before determining the elasticity estimate.
10. The method of claim 1 , further comprising:
determining a ratchet balancing component based on the pump control signal and the elasticity estimate; and
determining the corrected rudder speed based, at least in part, on the linear rudder speed and/or the ratchet balancing component.
11. The method of claim 1 , further comprising:
receiving a rudder demand corresponding to a target heading;
determining a rudder error based, at least in part, on the rudder demand and/or the virtual rudder estimate;
converting the rudder error into a corresponding pump control signal for the hydraulic steering system; and
transmitting the corresponding pump control signal to the hydraulic steering system.
12. The method of claim 11 , further comprising quantizing the rudder error according to a selected one of a plurality of quantization levels prior to converting the quantized rudder error into the corresponding pump control signal.
13. A system comprising:
a logic device configured to receive one or more sensor and/or control signals and determine a virtual rudder estimate for use in controlling a hydraulic steering system coupled to a mobile structure, wherein the logic device is configured to:
receive a pump control signal for the hydraulic steering system and determine a linear rudder speed based, at least in part, on the pump control signal;
determine an elasticity estimate for the hydraulic steering system;
determine the virtual rudder estimate from a corrected rudder speed, wherein the corrected rudder speed is based, at least in part, on the linear rudder speed, the pump control signal, and/or the elasticity estimate; and
transmit an updated pump control signal based, at least in part, on the virtual rudder estimate, to the hydraulic steering system.
14. The system of claim 13 , wherein the logic device is configured to determine the linear rudder speed based, at least in part, on the pump control signal, a pump sensor signal, and/or a linear balancing coefficient for the hydraulic steering system.
15. The system of claim 13 , wherein the logic device is configured to determine the elasticity estimate by receiving the elasticity estimate as user input from a user interface and/or by retrieving the elasticity estimate from a machine readable medium.
16. The system of claim 13 , wherein the logic device is configured to:
determine a virtual rudder error based, at least in part, on a prior virtual rudder estimate; and
determine the elasticity estimate based, at least in part, on the virtual rudder error.
17. The system of claim 16 , wherein the logic device is configured to:
receive a yaw rate for the mobile structure;
determine the virtual rudder error based, at least in part, on the prior virtual rudder estimate and the yaw rate; and
determine the elasticity estimate by accumulating the virtual rudder error and/or a phase advance compensated virtual rudder error.
18. The system of claim 16 , wherein the logic device is configured to:
receive a rudder limit for the hydraulic steering system;
determine a taper coefficient based on the rudder limit and the prior virtual rudder estimate; and
taper the virtual rudder error by scaling the virtual rudder error by the taper coefficient prior to determining the elasticity estimate.
19. The system of claim 16 , wherein the corrected rudder speed is additionally based on a bleed balancing component, and wherein the bleed balancing component comprises the virtual rudder error scaled by a proper fraction with a value less than one-half.
20. The system of claim 13 , wherein the mobile structure comprises a watercraft, aircraft, robot, drone, and/or other type of vehicle, and wherein the logic device is configured to:
receive a measured heading, a target heading, and/or a heading validity status for the mobile structure;
determine the mobile structure is experiencing a course change based, at least in part, on the measured heading, the target heading, and/or the heading validity status; and
set a virtual rudder error to zero before determining the elasticity estimate and/or a bleed balancing component.
21. The system of claim 13 , wherein the logic device is configured to:
determine that the hydraulic steering system is in a non-accumulation cycle; and
set a virtual rudder error to zero before determining the elasticity estimate.
22. The system of claim 13 , wherein the logic device is configured to:
determine a ratchet balancing component based on the pump control signal and the elasticity estimate, wherein the ratchet balancing component is configured to compensate for an elastic response of the hydraulic steering system to the pump control signal; and
determine the corrected rudder speed based, at least in part, on the linear rudder speed and/or the ratchet balancing component.
23. The system of claim 13 , wherein the logic device is configured to:
receive a rudder demand corresponding to a target heading;
determine a rudder error based, at least in part, on the rudder demand and/or the virtual rudder estimate;
convert the rudder error into a corresponding pump control signal for the hydraulic steering system; and
transmit the corresponding pump control signal to the hydraulic steering system.
24. The system of claim 22 , wherein the logic device is configured to quantize the rudder error according to a selected one of a plurality of quantization levels prior to converting the quantized rudder error into the corresponding pump control signal.