Study on Control System Design based on Smart Model Based Development Approach and its Application for a Hydraulic Excavator

Model-based development (MBD) that utilizes system models in the design processes of complex products such as autonomous driving vehicles has been receiving increased attention. Moreover, an advanced control system design scheme is required to accurately control the developed products under any hard conditions in practical usage. This study proposes a control system for integrating a data-driven controller (DDC) with a model-based control (MBC) system design. The proposed method has a hierarchical control structure consisting of an upstream control system based on the MBC design approach and a downstream control system including a plant control loop with a DDC. In this paper, the design scheme of unifying models and data in the MBD process is called smart MBD (S-MBD); in other words, the proposed control system design scheme is based on the S-MBD approach. The effectiveness of the proposed hierarchical control system was verified by applying it to a hydraulic excavator.