Adaptive Engagement Control of a Self-Energizing Clutch Actuator System Based on Robust Position Tracking

This paper considers the problem of designing an engagement controller for a clutch actuator system having a self-energizing mechanism. Since such a system includes a torque amplification mechanism, parametric uncertainties in the model may lead to large erroneous results in the clutch torque contro...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2018-04, Vol.23 (2), p.800-810
Main Authors: Kim, Jinsung, Choi, Seibum B., Oh, Jiwon J.
Format: Article
Language:English
Subjects:
Activation
Actuator position
Actuators
Adaptation models
Adaptive control
automotive system
clutch actuator
Clutches
Coefficient of friction
Control systems design
Disturbance observers
drivetrain
Force
Friction
Hysteresis motors
IEEE transactions
Position tracking
positioning mechanism
Sliding mode control
Stiffness
Torque
torque control
Tracking
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Summary:This paper considers the problem of designing an engagement controller for a clutch actuator system having a self-energizing mechanism. Since such a system includes a torque amplification mechanism, parametric uncertainties in the model may lead to large erroneous results in the clutch torque controller. To compensate this undesirable effect, adaptive sliding-mode control is applied based on the actuator position tracking. Estimations of the disk friction coefficient and actuator motion parameters are employed to control the engagement torque properly. The disk friction coefficient adaptation provides online stiffness inference for the engagement force while in contact. Moreover, the unstructured disturbance is also compensated by a disturbance observer. Experimental verifications show the improved performance of the developed control method.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2018.2793351