Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 54 4 2022 06 22 Clutch Position Control for an Automated Manual Transmission Using Electromechanical Actuators Clutch Position Control for an Automated Manual Transmission Using Electromechanical Actuators 769 790 4596 10.22060/mej.2021.20470.7238 FA Abbas Soltani Imam Khomeini International University, Buin Zahra Higher Education Center of Engineering and Technology, Qazvin, Iran. 0000-0001-5764-7591 Milad Arianfard Department of Mechanical Engineering, Technical and Vocational University (TVU), Tehran, Iran. Journal Article 2021 08 27 In this paper, an adaptive sliding mode controller with variable gains to cope with uncertainties is proposed for an electromechanical clutch position control system to apply in the automated manual transmission. Transmission systems undergo changes in parameters with respect to the wide range of driving conditions, such as changes in friction coefficient of clutch disc and stiffness of diaphragm spring, hence, an adaptive robust control method is required to overcome the uncertainties and disturbances. As the majority of transmission dynamics variables cannot be measured in a cost-efficient way, a non-linear estimator based on an unscented Kalman filter is designed to estimate the state valuables of the system. Also, a non-linear dynamic model of the electromechanical actuator is presented for the automated clutch system. The model is validated with experimental test results. A numerical simulation of a reference input for clutch bearing displacement is performed to evaluate the performance of the designed controller and estimator. To evaluate the performance of the proposed control system the root mean square value of the position tracking error has been used. The results of the analysis indicate higher efficiency of the adaptive controller designed to improve the position tracking error compared to the conventional sliding mode controller. In this paper, an adaptive sliding mode controller with variable gains to cope with uncertainties is proposed for an electromechanical clutch position control system to apply in the automated manual transmission. Transmission systems undergo changes in parameters with respect to the wide range of driving conditions, such as changes in friction coefficient of clutch disc and stiffness of diaphragm spring, hence, an adaptive robust control method is required to overcome the uncertainties and disturbances. As the majority of transmission dynamics variables cannot be measured in a cost-efficient way, a non-linear estimator based on an unscented Kalman filter is designed to estimate the state valuables of the system. Also, a non-linear dynamic model of the electromechanical actuator is presented for the automated clutch system. The model is validated with experimental test results. A numerical simulation of a reference input for clutch bearing displacement is performed to evaluate the performance of the designed controller and estimator. To evaluate the performance of the proposed control system the root mean square value of the position tracking error has been used. The results of the analysis indicate higher efficiency of the adaptive controller designed to improve the position tracking error compared to the conventional sliding mode controller. https://mej.aut.ac.ir/article_4596_ed46558a56a4a26b96a68738a0d28273.pdf