Sliding Mode Position Control of an Electro-Pneumatic Clutch System

Szimandl, Barna; Németh, Huba

doi:10.3182/20130204-3-fr-2033.00019

Cited by 12 publications

(5 citation statements)

References 8 publications

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“…With the given assumptions and simplifications, the state-space representation describing the actuator's behavior can be written in a single form as (30)- (32), but the values of these matrices depend on the actual states indirectly through (19), (20), (21) and (33), which results in two versions of A and four versions of B matrices; therefore, it has eight hybrid states, where the actual state is determined by the mass flow rates and the Main piston position.…”

Section: Lqr Methodsmentioning

confidence: 99%

“…The authors of [20] present an analytic control design model of PWM-based pneumatic systems, which serves to transform a discontinuous switching model into a continuous model, then develops an SMC controller for such a system. In [21], an SMC is presented for an electro-pneumatic clutch actuator, then a controller reduction possibility is proposed. In [22], a cascaded tracking controller is performed by combining sliding-mode and Lyapunov techniques based on a nonlinear state-space representation.…”

Section: Introductionmentioning

confidence: 99%

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Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Szabo¹,

Bécsi

Gáspár

2020

Applied Sciences

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The paper presents the modeling and control design of a floating piston electro-pneumatic gearbox actuator and, moreover, the industrial validation of the controller system. As part of a heavy-duty vehicle, it needs to meet strict and contradictory requirements and units applying the system with different supply pressures in order to operate under various environmental conditions. Because of the high control frequency domain of the real system, post-modern control methods with high computational demands could not be used as they do not meet real-time requirements on automotive level. During the modeling phase, the essential simplifications are shown with the awareness of the trade-off between calculation speed and numerical accuracy to generate a multi-state piecewise-linear system. Two LTI control methods are introduced, i.e., a PD and an Linear-Quadratic Regulators (LQR) solution, in which the continuous control signals are transformed into discrete voltage solenoid commands for the valves. The validation of both the model and the control system are performed on a real physical implementation. The results show that both modeling and control design are suitable for the control tasks using floating piston cylinders and, moreover, these methods can be extended to electro-pneumatic cylinders with different layouts.

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Section: Lqr Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Szabo¹,

Bécsi

Gáspár

2020

Applied Sciences

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“…9 To this end, model-free control and data-driven control have been explored [10][11][12][13][14][15][16][17][18][19][20][21][22] and applied to automobile systems. 5,[23][24][25][26] Thus far, the control of pneumatic clutch actuators has been accomplished through use of model-based approaches, including H N control, 27 sliding mode control, 28,29 model predictive control, [30][31][32][33] adaptive control, 34 state feedback control using feedback linearization, 35 fuzzy control, 36 and backstepping control. 37 In these methods, an observer is required to construct a state feedback controller; an observer for estimating the pressure inside a clutch piston has been proposed.…”

Section: Introductionmentioning

confidence: 99%

Direct tuning of gain-scheduled controller for electro-pneumatic clutch position control

Yahagi

Kajiwara

2021

Advances in Mechanical Engineering

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This study proposes a gain-scheduled controller with direct tuning for the position control of a pneumatic clutch actuator that is installed in heavy-duty trucks. Pneumatic clutch actuators are highly nonlinear systems and cannot be easily controlled. Industries require a simple controller design that is easy to understand and requires few trial-and-error calibrations. Therefore, we adopted a gain-scheduled proportional integral derivative (PID) control law, which is a well-known and easy-to-understand nonlinear control method. In this approach, a gain scheduler is expressed using polynomials composed of coefficient parameters and controlled object states. The unknown coefficient parameters of the polynomials are directly tuned from the controlled object input/output data without having to use a controlled object model. The proposed controller design procedure is simple and does not require system identification or trial-and-error tuning. The effectiveness of the proposed method is verified by an experiment using an actual vehicle. The experimental results confirm the effectiveness of the proposed method for the position control of pneumatic clutch actuators.

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“…In [23], the proposed controller for the pneumatic cylinder is augmented with a payload estimation algorithm, and it presents experimental results. In [29], an SMC controller is developed for an electro-pneumatic clutch actuator, then controller reduction possibility is presented. A general solution is shown in [30] , where an observer-based adaptive finite-time tracking control strategy is developed by combining dynamic surface control (DSC) technique and backstepping approach for a class of nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Reinforcement Learning Based Control Design for a Floating Piston Pneumatic Gearbox Actuator

et al. 2020

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The project is also supported by the Hungarian Government and co-financed by the European Social Fund, EFOP-3.6.3-VEKOP-16-2017-00001: Talent management in autonomous vehicle control technologies ABSTRACT Electro-pneumatic actuators play an essential role in various areas of the industry, including heavy-duty vehicles. This article deals with the control problem of an Automatic Manual Transmission, where the actuator of the system is a double-acting floating-piston cylinder, with dedicated inner-position. During the control design of electro-pneumatic cylinders, one must implement a set-valued control on a nonlinear system, when, as in the present case, non-proportional valves provide the airflow. As both the system model itself and the qualitative control goals can be formulated as a Partially Observable Markov Decision Process, Machine learning frameworks are a conspicuous choice for handling such control problems. To this end, six different solutions are compared in the article, of which a new agent named PG-MCTS, using a modified version of the "Upper Confidence bound for Trees" algorithm, is also presented. The performance and strategic choice comparison of the six methods are carried out in a simulation environment. Validation tests performed on an actual transmission system and implemented on an automotive control unit to prove the applicability of the concept. In this case, a Policy Gradient agent, selected by implementation and computation capacity restrictions. The results show that the presented methods are suitable for the control of floating-piston cylinders and can be extended to other fluid mechanical actuators, or even different set-valued nonlinear control problems.

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Sliding Mode Position Control of an Electro-Pneumatic Clutch System

Cited by 12 publications

References 8 publications

Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

Direct tuning of gain-scheduled controller for electro-pneumatic clutch position control

Reinforcement Learning Based Control Design for a Floating Piston Pneumatic Gearbox Actuator

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