Real-Time Estimation of Transmitted Torque on Each Clutch for Ground Vehicles With Dual Clutch Transmission

Abstract

This paper mainly focuses on the robust separate estimation of transmitted torque on each clutch of the dual clutch transmission-the task that has not yet been accomplished by previously published efforts. In order to estimate the torque on individual clutches, the observer system is composed of a shaft model-based observer, unknown input observers, and a model reference PI observer. The estimations obtained by each subcomponents are processed together to provide online torque estimation of high accuracy. The proposed estimator requires the following information: speed measurements of engine, input shafts, and wheels, and nominal engine torque information obtained as a function of driver inputs and engine speed. These are already available in the current production cars; hence, no further modification or addition to the vehicle hardware is necessary. To validate the effectiveness of the proposed estimator, experiments using an actual vehicle are conducted with various scenarios. With detailed analysis of the results obtained by the experiments, the proposed dual clutch transmission torque estimator is shown to be apt for real car application. 1083-4435

Vehicle Engine Torque Estimation via Unknown Input Observer and Adaptive Parameter Estimation

“…In a laboratory, the load torque l  can be measured using a dynamometer. In practice, this load torque can be estimated by using a polynomial approximation [32], or considering the vehicle powertrain dynamics [33], [34] but assuming again a further set of parameters and variables to be known. Hence, this increased complexity for online estimation of engine load will not be addressed in this paper due to the limited space.…”

Dry Dual Clutch Torque Model with Temperature and Slip Speed Effects

“…13, the inversion of the clutch torque characteristic allows determining the reference value for the actuator position which drives the throwout bearing of the clutch. The torque model inversion, which is used in most clutch engagement control schemes, can be also integrated with a disturbance observer as clutch torque estimator, so as the one proposed in [23]. In this way, the output of the torque inversion could act as feedforward contribution to the reference actuator position, whereas the feedback component comes from a controller on the error between the reference torque and the torque estimated by a disturbance observer.…”

“…This point is highlighted in the literature from different perspectives and strategies dedicated to dry clutches: to improve the actuator technology [18,19], for torque limitations during the engagements [20], for gearshift [4,7] and sliding mode controllers [21], for the use of multivariable control strategies [22], for real-time estimation [23] and simulation [24]. The clutch torque characteristic, which relates the actuator position to the transmitted torque, is widely used in the clutch engagement controllers because it can be considered as an add-on solution with respect to the classical engagement controllers currently used for automated manual transmissions and also, as a feedforward component, to solutions which adopts clutch torque observers based on the driveline model [23].…”

Adaptive Engine Torque Compensation with Driveline Model

“…The compensator in this paper estimates only one unknown state, the multiplication factor on the engine net torque, using one error variable. The torque compliance model of a shaft is widely used to estimate the shaft torque but it needs rotational angle and speed information of a shaft which is not suitable for a real MATEC Web of Conferences 166, 04004 (2018) https://doi.org/10.1051/matecconf/201816604004 ICMAA 2018 vehicle [3]. In case of using only speed information for commercial vehicles, the shaft torque is expressed as the differential form.…”