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Robust Feedback Tracking Controller Design for Self-Energizing Clutch Actuator of Automated Manual Transmission
- Jiwon Oh - KAIST ,
- Seibum Choi - KAIST ,
- Jinsung Kim - Hyundai Motors
ISSN: 1946-3995, e-ISSN: 1946-4002
Published October 14, 2013 by SAE International in United States
Citation: Oh, J., Kim, J., and Choi, S., "Robust Feedback Tracking Controller Design for Self-Energizing Clutch Actuator of Automated Manual Transmission," SAE Int. J. Passeng. Cars - Mech. Syst. 6(3):1510-1517, 2013, https://doi.org/10.4271/2013-01-2587.
This study mainly focuses on developing an accurate tracking controller for the self-energizing clutch actuator (SECA) system consisting of a DC motor with an encoder applied on the automated manual transmission (AMT). In the position-based actuation of the SECA, abruptly increasing torque near the clutch kissing point during the clutch engagement process induces control input saturation and jerky response when a conventional feedback controller is applied. The proposed work resolves such issue and significantly increases the control accuracy of the actuator through the development of an effective H-infinity controller. The control performance is shown to be more effective than a simple PID controller via simulation and experiments using an AMT test bench equipped with SECA aided by d-SPACE and Matlab/Simulink.