Adaptive torque tracking control during slip engagement of a dry clutch in vehicle powertrain

Park, Jinrak,Choi, Seibum,Oh, Jiwon,Eo, Jeongsoo Elsevier 2019 Mechanism and machine theory Vol.134 No.-

<P><B>Abstract</B></P> <P>Dry clutches have been gaining its popularity for use in the transmission systems of small and medium-sized vehicles as well as the engine clutch systems of parallel hybrid vehicles. With this trend, the ability to appropriately control the amount of torque transferred through the dry clutch becomes important. This paper addresses a feedforward control method of clutch torque during slip engagement of a dry clutch utilizing a clutch friction model. In many studies, the clutch friction coefficient is considered as the only uncertain parameter in the clutch friction model. However, the clutch touch point can also serve as a major source of uncertainty in the clutch friction model. Thus, this paper proposes a simultaneous adaptation method to estimate the clutch friction coefficient and the clutch touch point in real time and a feedforward control method of clutch torque during slip engagement of a dry clutch based on the proposed adaptation algorithm. This control approach is applied to the slip engagement control of a dry engine clutch in a parallel hybrid vehicle and its effect is experimentally verified using a production vehicle.</P> <P><B>Highlights</B></P> <P> <UL> <LI> An adaptive torque tracking control method during slip engagement of a dry clutch in a vehicle powertrain is developed. </LI> <LI> The proposed method is applied to the slip engagement control of an engine clutch in a parallel hybrid vehicle. </LI> <LI> The proposed method is verified with production vehicle experiments. </LI> <LI> Feedforward control based on a clutch friction model is performed for the slip engagement control. </LI> <LI> The forward path torque estimator of an engine clutch in the driveline is utilized to adapt the clutch friction model. </LI> </UL> </P>

WHEEL SLIP CONTROL WITH MOVING SLIDING SURFACE FOR TRACTION CONTROL SYSTEM

Chun, K.,Sunwoo, M. The Korean Society of Automotive Engineers 2004 International journal of automotive technology Vol.5 No.2

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

Side Slip Angle Based Control Threshold of Vehicle Stability Control System

Chung Taeyoung,Yi Kyongsu The Korean Society of Mechanical Engineers 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.4

Vehicle Stability Control (VSC) system prevents vehicle from spinning or drifting out mainly by braking intervention. Although a control threshold of conventional VSC is designed by vehicle characteristics and centered on average drivers, it can be a redundancy to expert drivers in critical driving conditions. In this study, a manual adaptation of VSC is investigated by changing the control threshold. A control threshold can be determined by phase plane analysis of side slip angle and angular velocity which is established with various vehicle speeds and steering angles. Since vehicle side slip angle is impossible to be obtained by commercially available sensors, a side slip angle is designed and evaluated with test results. By using the estimated value, phase plane analysis is applied to determine control threshold. To evaluate an effect of control threshold, we applied a 23-DOF vehicle nonlinear model with a vehicle planar motion model based sliding controller. Controller gains are tuned as the control threshold changed. A VSC with various control thresholds makes VSC more flexible with respect to individual driver characteristics.

적응제어 기법을 적용한 ABS의 바퀴 슬립 제어

최종환 한국기계가공학회 2006 한국기계가공학회지 Vol.5 No.3

ABS is a safety device for preventing wheel locking in a sudden baking. Its control methods are classified into three types; deceleration control, wheel slip control and deceleration/acceleration control. The braking force takes the influence of the friction coefficient between road and tire, which in turn depends on the wheel slip as well as road conditions. In this paper, it has been proposed the wheel slip control system to apply the adaptive control method at the ABS. To maintain wheel slip to desired wheel slip, it have been done the linearization and designed the adaptive controller to apply gradient method based on the reference model. It is illustrated by computer simulations that the proposed control system gives good performances and adaptation to parameter variation.

PID PLUS FUZZY LOGIC METHOD FOR TORQUE CONTROL IN TRACTION CONTROL SYSTEM

H.-Z. LI,L. LI,L. HE,M.-X. KANG,J. SONG,L.-Y. YU,C. WU 한국자동차공학회 2012 International journal of automotive technology Vol.13 No.3

A Traction Control System (TCS) is used to control the driving force of an engine to prevent excessive slip when a vehicle starts suddenly or accelerates. The torque control strategy determines the driving performance of the vehicle under various drive-slip conditions. This paper presents a new torque control method for various drive-slip conditions involving abrupt changes in the road friction. This method is based on a PID plus fuzzy logic controller for driving torque regulation, which consists of a PID controller and a fuzzy logic controller. The PID controller is the fundamental component that calculates the elementary torque for traction control. In addition, the fuzzy logic controller is the compensating component that compensates for the abrupt change in the road friction. The simulation results and the experimental vehicle tests have validated that the proposed controller is effective and robust. Compared with conventional PID controllers, the driving performance under the proposed controller is greatly improved.

Advanced Longitudinal and Lateral Stability Control System for a Four-Wheel-Independent-Drive Electric Vehicle Using a New Power Converter Topology

Mankour Mohamed,Mohammed Chikouche Tarik,Kada Hartani,Adda Benkhalfallah,Norediene Aouadj 대한전기학회 2023 Journal of Electrical Engineering & Technology Vol.18 No.3

This work develops an advanced control system to improve the handling, comfort, and longitudinal and lateral stability of a four-wheel-independent-drive electric vehicle, based on the combination of longitudinal and lateral control. Firstly, to avoid the wheels from slipping or locking when accelerating or braking a longitudinal control combining traction and braking control is proposed. The coordinated ASR/ABS control can operate as an acceleration slip regulation (ASR) by preventing the wheels from slipping during acceleration and as an antilock braking system (ABS) by preventing the wheels from locking during braking by adjusting the electric motor torques dynamically. Secondly, to stabilize the lateral movement of the vehicle in severe turns, a lateral vehicle dynamic control combining direct yaw control and active front steering is designed. The advanced control system uses the fast and precise torque of the electric motors transmitted directly to the wheels. The originality of the present work is the use of a new power converter topology to simultaneously supply the four in-wheel motors, simplifying the architecture of the electric vehicle design and control laws. The configuration of the electric vehicle studied allows the in-wheel motors to turn at identical or different speeds by imposing an independent control on each drive wheel. Finally, and in order to diminish the torque ripple, provide better speed tracking performance, and achieve a high-performance torque control for the electric vehicle with interior permanent magnet synchronous in-wheel motors, the fuzzy SVM-DTC strategy is proposed to be utilized. Numerical simulations using Matlab/Simulink software were carried out under diverse driving situations of a four-wheel-independent-drive electric vehicle, highlighting the robustness of the control techniques developed by means of the new topology of the power converter.

8륜 구동 차량의 통합 주행 제어 알고리즘 개발

김원균(Wongun Kim),강주용(Juyong Kang),이경수(Kyongsu Yi),이종석(Jongseok Lee) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5

This paper describes integrated driving controller for 8WD/4WS hybrid vehicle equipped with in-wheel driving motors. The integrated driving controller has been developed to improve maneuverability and lateral stability. It consists of upper level and lower level controller. The upper level controller contains calculation of reference yaw rate, yaw rate controller based on sliding control method and speed controller to satisfy driver’s steering and throttle demands. The lower level controller distributes longitudinal tire forces and restricts wheel slip diverge on severe driving conditions. Longitudinal tire forces are coordinated to improve maneuverability and stability using optimal control theory. This coordination is conducted considering the size of the friction circle related to vertical tire force and friction coefficient acting on road and tire. Distributed tire forces are determined in proportional to friction circle according to the change of a driving condition. Slip controller reduces applied torque input on each wheel in order to prevent excess of slip ratio. The response of the 8WD/4WS vehicle with the driving controller has been evaluated via computer simulations conducted using the Matlab/Simulink dynamic model. Computer simulation of a closed-loop driver model subjected to double lane change has been conducted to prove the improved performance of the integrated driving controller.

Dynamic analysis and control strategy of wet clutches during torque phase of gear shift

Yanxiao Fu,Yanfang Liu,Liangyi Cui,Xiangyang Xu 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.4

Control over the clutch during gear shift is the key technique in automatic transmission shift control and this control largely decides the shift quality. The engagement of the on-coming clutch and the disengagement of the off-going clutch should be controlled synchronously and accurately to achieve a smooth shift. Optimal control of clutch torque exchange phase is required to achieve this synchronous and accurate control. Shift quality can be easily influenced with inappropriate control parameters because of the many factors that affect the torque phase, as well as the use of closed-loop control. In this study, a dynamic model of frictional clutch with electro-hydraulic shift control is built. On the basis of the study of the influence of clutch-related parameters, an optimal control model is proposed with the closed-loop control together with an adaptive control method based on micro-slip clutch control. This control method can continually self-adjust control parameters to prevent shock, improve control precision and effectively reduce the calibration work after. Test result shows that this closed loop with adaptive method ensures consistently good shift quality.

퍼지제어기와 전류센싱방법을 이용한 모바일 로봇의 Slip현상 추정 및 주행성능 향상

김동언(Dong-Eon Kim),윤하늘(Ha-Neul Yun),박선호(Seon-Ho Park),최병찬(Byeong-Chan Choi),이장명(Jang-Myung Lee) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.4

An optimal slip control algorithm has been proposed in this paper to improve the driving performance of a mobile robot in outdoor environments. The optimal slip control is aimed to achieve a straight line driving accurately by minimizing the slip. The slip is occurred by dynamic characteristics of the mobile robot and external environmental factors, which has a critical effect on the straight line driving efficiency. To reduce the slip, an ASS(Anti Slip System) has been implemented using FSC(Fuzzy Slip Control) where encoder and current sensor data are properly used not to cause cumulative errors. To demonstrate superiority of the proposed control algorithm, real experiments are performed using a mobile robot in the outdoor.

Intelligent Robotic Gripper with Adaptive Grasping Force

Shiuh-Jer Huang,Wei-Han Chang,Jui-Yiao Su 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5

The on-off control robot gripper is widely employed in pick-and-place operations in Cartesian space forhandling hard objects between two positions. Without contact force monitoring, it can not be applied in fragile orsoft objects handling. Although, an appropriate grasping force or gripper opening for each target could be searchedby trial-and-error process, it needs expensive force/torque sensor or an accurate gripper position controller. It hastoo expensive and complex control strategy disadvantages for most of industrial applications. In addition, it cannot overcome the target slip problem due to mass uncertainty and dynamic factor. Here, an intelligent gripper isdesigned with embedded distributed control structure for overcoming the uncertainty of object’s mass and soft/hardfeatures. A communication signal is specified to integrate both robot arm and gripper control kernels for executingthe robotic position control and gripper force control functions in sequence. An efficient model-free intelligentfuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip controlstrategy are shown by pictures to verify the dynamic performance of this distributed control system. The positionand force tracking errors are less than 1 mm and 0.1 N, respectively.