Clutch Position Control for an Automated Manual Transmission Using Electromechanical Actuators

Document Type : Research Article

Authors

1 Imam Khomeini International University, Buin Zahra Higher Education Center of Engineering and Technology, Qazvin, Iran.

2 Department of Mechanical Engineering, Technical and Vocational University (TVU), Tehran, Iran.

Abstract

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.

Keywords

Main Subjects

References

[1] G. Lucente, M. Montanari, C. Rossi, Modelling of an automated manual transmission system, Mechatronics, 17(2-3) (2007) 73-91.
[2] S. Lin, S. Chang, B. Li, Gearshift control system development for direct-drive automated manual transmission based on a novel electromagnetic actuator, Mechatronics, 24(8) (2014) 1214-1222.
[3] C.-Y. Tseng, C.-H. Yu, Advanced shifting control of synchronizer mechanisms for clutchless automatic manual transmission in an electric vehicle, Mechanism and machine theory, 84 (2015) 37-56.
[4] J. Horn, J. Bamberger, P. Michau, S. Pindl, Flatness-based clutch control for automated manual transmissions, Control engineering practice, 11(12) (2003) 1353-1359.
[5] D.S. Cheng, J.W. Zhang, X.F. Ye, X.-F. Huang, Sliding mode control approach for electrically controllable clutch of AMT based on the feedback linearization, Journal of Dong Hua Univ., Engl. Edn, 20(3) (2003) 88-93.
[6] J. Zhang, L. Chen, G. Xi, System dynamic modelling and adaptive optimal control for automatic clutch engagement of vehicles, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 216(12) (2002) 983-991.
[7] G. Liu, S. Daley, Optimal-tuning nonlinear PID control of hydraulic systems, Control Engineering Practice, 8(9) (2000) 1045-1053.
[8] Y. Zhao, Z. Liu, L. Cai, W. Yang, J. Yang, Z. Luo, Study of control for the automated clutch of an automated manual transmission vehicle based on rapid control prototyping, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 224(4) (2010) 475-487.
[9] X. Song, Z. Sun, X. Yang, G. Zhu, Modelling, control, and hardware-in-the-loop simulation of an automated manual transmission, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 224(2) (2010) 143-160.
[10] Z. Chen, B. Zhang, N. Zhang, H. Du, G. Kong, Optimal preview position control for shifting actuators of automated manual transmission, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 233(2) (2019) 440-452.
[11] G. Kong, N. Zhang, B. Zhang, Novel hybrid optimal algorithm development for DC motor of automated manual transmission, International Journal of Automotive Technology, 17(1) (2016) 135-143.
[12] J. Oh, J. Kim, S. Choi, Robust feedback tracking controller design for self-energizing clutch actuator of automated manual transmission, SAE International Journal of Passenger Cars-Mechanical Systems, 6(2013-01-2587) (2013) 1510-1517.
[13] M. Pettersson, L. Nielsen, Gear shifting by engine control, IEEE Transactions on Control Systems Technology, 8(3) (2000) 495-507.
[14] M. Pettersson, L. Nielsen, Diesel engine speed control with handling of driveline resonances, Control Engineering Practice, 11(3) (2003) 319-328.
[15] B. Gao, Y. Lei, A. Ge, H. Chen, K. Sanada, Observer-based clutch disengagement control during gear shift process of automated manual transmission, Vehicle System Dynamics, 49(5) (2011) 685-701.
[16] A. Bagheri, S. Azadi, A. Soltani, A combined use of adaptive sliding mode control and unscented Kalman filter estimator to improve vehicle yaw stability, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 231(2) (2017) 388-401.
[17] R. Temporelli, M. Boisvert, P. Micheau, Control of an electromechanical clutch actuator using a dual sliding mode controller: Theory and experimental investigations, IEEE/ASME Transactions on Mechatronics, 24(4) (2019) 1674-1685.
[18] S.A. Haggag, Sliding mode adaptive PID control of an automotive clutch-by-wire actuator, SAE International Journal of Passenger Cars-Mechanical Systems, 9(2016-01-9106) (2016) 424-433.
[19] X. Zhu, H. Zhang, J. Xi, J. Wang, Z. Fang, Robust speed synchronization control for clutchless automated manual transmission systems in electric vehicles, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 229(4) (2015) 424-436.
[20] H. Ren, S. Chen, T. Shim, Z. Wu, Effective assessment of tyre–road friction coefficient using a hybrid estimator, Vehicle System Dynamics, 52(8) (2014) 1047-1065.
 
Amirkabir Journal of Mechanical Engineering
Volume 54, Issue 4
July 2022
Pages 769-790

Files

Share

How to cite

Statistics