Joint structure for the real-time estimation and control of automotive dry clutch engagement

Knowledge about the tyre to road friction is central to many vehicle functions as well as the overall performance of the vehicle. In this paper, a new real-time algorithm is presented for estimating the coefficient of friction using available on-board sensor information. A computationally efficient algorithm is presented, that reduces resources usage compared to previously published approaches. Issues connected to heavy vehicles and friction estimation is addressed, such as wind up of hub assembly and vehicle speed sensing. The performance of the algorithm is illustrated on data sets acquired from the test track recordings in winter conditions.

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“…According to the equation, 5 summing the total vertical wheel reaction forces applied to the vehicle yields…”

Section: Tyre-to-road Friction Observermentioning

confidence: 99%

“…4 In order to perform an online identification, we should access all the required signals in real-time. 5,6 To this end, the wheel rotational speed and the vehicle acceleration can be available in modern vehicles using a wheel speed encoder and an accelerometer respectively. Some other types of signals (e.g.…”

Section: Introductionmentioning

confidence: 99%

An effective tyre to road friction estimation applied to heavy vehicles

Sharifzadeh

Bruzelius

Jacobson

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…In particular, wheeled mobile robots, which represent the mobile robots of interest for this investigation, must be modeled as nonholonomic mechanical systems to capture the pure rolling conditions of the wheels. Thus, the nonlinear control problem of this family of mechanical systems represents a challenging engineering issue [64][65][66][67]. In the literature, the nonlinear control methods employed for this class of mechanical systems are based on non-standard approaches that cannot be easily extended to both holonomic and nonholonomic mechanical systems [68][69][70].…”

Section: Literature Reviewmentioning

confidence: 99%

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Pappalardo

Guida

2019

Machines

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In this research work, a new method for solving forward and inverse dynamic problems of mechanical systems having an underactuated structure and subjected to holonomic and/or nonholonomic constraints is developed. The method devised in this paper is based on the combination of the Udwadia-Kalaba Equations with the Underactuation Equivalence Principle. First, an analytical method based on the Udwadia-Kalaba Equations is employed in the paper for handling dynamic and control problems of nonlinear nonholonomic mechanical systems in the same computational framework. Subsequently, the Underactuation Equivalence Principle is used for extending the capabilities of the Udwadia-Kalaba Equations from fully actuated mechanical systems to underactuated mechanical systems. The Underactuation Equivalence Principle represents an efficient method recently developed in the field of classical mechanics. The Underactuation Equivalence Principle is used in this paper for mathematically formalizing the underactuation property of a mechanical system considering a particular set of nonholonomic algebraic constraints defined at the acceleration level. On the other hand, in this study, the Udwadia-Kalaba Equations are analytically reformulated in a mathematical form suitable for treating inverse dynamic problems. By doing so, the Udwadia-Kalaba Equations are employed in conjunction with the Underactuation Equivalence Principle for developing a nonlinear control method based on an inverse dynamic approach. As shown in detail in this investigation, the proposed method can be used for analytically solving in an explicit manner the forward and inverse dynamic problems of several nonholonomic mechanical systems. In particular, the tracking control of the unicycle-like mobile robot is considered in this investigation as a benchmark example. Numerical experiments on the dynamic model of the unicycle-like mobile robot confirm the effectiveness of the nonlinear dynamic and control approaches developed in this work.

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“…Then, it is used for the identification of incipient sliding point (ISP) also called the throwout bearing kiss-point, whose knowledge has significant impact on clutch transmitted torque to improve performance of gearbox control system during engagement. 13 Therefore, taking into account that available calculated clutch torque data are noisy, an interior trust region version is chosen to the identification procedure. The proposed scheme uses the current system state, the process variable targets the current plant measurements and limits to calculate future changes in the dependent variables while taking the continuous update of reference signals into account.…”

Section: Introductionmentioning

confidence: 99%

Real-time identification of dry-clutch frictional torque in automated transmissions at launch condition

Sharifzadeh

Pisaturo

Senatore

2019

Proceedings of the Institution of Mechanical Engineers, Part D:

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In this work, a new methodology for online identification of the dry-clutch torque characteristics model in vehicular transmission systems is presented. The proposed approach provides a tool with capability to estimate the clutch torque model parameters directly, using the measurable signals of engine torque and speed within a multiple model predictive control loop, in real time. The first step is to calculate the clutch torque which includes some degree of uncertainty. Then, it is presented an advanced identification approach which is based on trust region and has enough robustness to cover the uncertainty of calculated torque. The structure aims to ensuring a comfortable clutch lock-up by keeping reasonable engagement period and avoiding engine stall. Real-time model simulations in various conditions are also presented to illustrate the superior performance and to demonstrate the effectiveness of the algorithm. The identification method has also been tested on real vehicle equipped with 1.3 L turbocharged diesel engine and six-speed automated manual transmission. Different launch maneuvers have been considered to demonstrate the methodology and promising results have been achieved.

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Joint structure for the real-time estimation and control of automotive dry clutch engagement

Cited by 5 publications

References 14 publications

An effective tyre to road friction estimation applied to heavy vehicles

An effective tyre to road friction estimation applied to heavy vehicles

Forward and Inverse Dynamics of a Unicycle-Like Mobile Robot

Real-time identification of dry-clutch frictional torque in automated transmissions at launch condition

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