Position Control of Electric Clutch Actuator Using a Triple-Step Nonlinear Method

Abstract

For a novel electric clutch actuator, a nonlinear feedforward-feedback control scheme is proposed to improve the performance of the position tracking control. The design procedure is formalized as a triple-step deduction, and the derived controller consists of three parts: steady-state-like control; feedforward control based on reference dynamics; and statedependent feedback control. The structure of the proposed nonlinear controller is concise and is also comparable to those widely used in modern automotive control. Finally, the designed controller is evaluated through simulations and experimental tests, which show that the proposed controller satisfied the control requirement. Comparison with proportional-integral-derivative control is given as well.

Output‐feedback model‐reference adaptive calibration for map‐based anti‐jerk control of electromechanical automotive clutches

“…In accordance with the Kirchhoff laws and torque equilibrium, the corresponding model of the electromechanical clutch actuator shown in Figure 1 is given as follows 9 :…”

“…The simulation parameters are listed in Table 1. Besides, the values of v a , F 1 , F 2 , and F f used in this study are selected from the experimental data given in the work of Gao et al 9 To simulate the nonlinear clutch dynamics, the speed-dependent slipping friction coefficient μ(v dom ) is formulated by considering the sticking and slipping friction coefficients together as follows: where v dom is the speed difference between the driving and driven shafts, which is determined based on the average between the inner and outer diameters (as depicted in Figure 7); B 1 , B 2 , and B 3 are constants that can be determined based on the selected material pairs in the clutch; μ 0 is the static friction coefficient; and μ 1 is the sliding friction coefficient. The simulation parameters of the above variables are listed in Table 2.…”

“…One major reason for the nonlinearity is that the friction coefficient is fluctuated by the speed difference between the clutch discs in the slipping phase. 9 Therefore, many literature studies have proposed algorithms for the position control of the electromechanical clutch actuator [9][10][11][12] and clutch torque observers. 8 These nonlinearities produce difficulty in estimating the clutch torque accurately and possibly give rise to vehicle jerk.…”

“…Moreover, the nonlinear varying characteristics of electromechanical actuator components also affect the tracking precision. 9 Therefore, many literature studies have proposed algorithms for the position control of the electromechanical clutch actuator [9][10][11][12] and clutch torque observers. 13,14 However, these control algorithms are not sufficient to avoid the vehicle jerk due to the discontinuous slip-stick transition.…”

A Novel Control Method of Clutch During Mode Transition of Single-Shaft Parallel Hybrid Electric Vehicles

“…The optimal control method is designed in [16] to generate the reference trajectories of the clutch slip speed and motor torque to provide satisfactory performance even under large variation of vehicle mass and road grade. Moreover, another approach has been extensively studied and utilized, such as triple-step control method [17,18] and backstepping control method [19] are adopted to solve the optimal trajectory tracking problem to achieve accurate clutch control.…”