Dry clutch control is a typical nonlinear problem due to the nonlinear characteristics of diaphragm springs. For precise position control of the automated dry clutch, a modified predictive functional control (mPFC) method is proposed. First, a novel mechanical actuator is designed and models of the automated dry clutch system are built based on theoretical analysis and experimental data. Then, in order to compensate for the position error of direct current (DC) motor caused by load torque, modifications are introduced to a regular predictive functional control (PFC), including a sliding mode observer (SMO) to estimate the load torque and a predictive model concerning the load torque. Next, simulations show that the SMO could estimate the load torque accurately and the mPFC performs well with the nonlinear load torque. Finally, experiments are carried out on a test bench and the results are in accordance with the simulations. Due to the little online computing burden and the simple structure of the mPFC, it could be used in other industrial control systems which need fast response.
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June 2016
Research-Article
A Modified Predictive Functional Control With Sliding Mode Observer for Automated Dry Clutch Control of Vehicle
Liang Li,
Liang Li
The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China;
Safety and Energy,
Tsinghua University,
Beijing 100084, China;
The Collaborative Innovation
Center of Electric Vehicles,
Beijing 100081, China
e-mail: liangl@mail.tsinghua.edu.cn
Center of Electric Vehicles,
Beijing 100081, China
e-mail: liangl@mail.tsinghua.edu.cn
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Xiangyu Wang,
Xiangyu Wang
The State Key Laboratory of Automotive Safety
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: wang-xy15@mails.tsinghua.edu.cn
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: wang-xy15@mails.tsinghua.edu.cn
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Xiaosong Hu,
Xiaosong Hu
The State Key Laboratory of Mechanical
Transmissions,
Chongqing University,
Chongqing 400044, China
e-mail: xiaosonghu@berkeley.edu
Transmissions,
Chongqing University,
Chongqing 400044, China
e-mail: xiaosonghu@berkeley.edu
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Zheng Chen,
Zheng Chen
Mechatronics and Intelligent Systems,
Faculty of Engineering,
University of Technology,
Sydney 2070, Australia
e-mail: jeffchenzheng@yahoo.com
Faculty of Engineering,
University of Technology,
Sydney 2070, Australia
e-mail: jeffchenzheng@yahoo.com
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Jian Song,
Jian Song
The State Key Laboratory of Automotive Safety
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: daesj@tsinghua.edu.cn
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: daesj@tsinghua.edu.cn
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Fahad Muhammad
Fahad Muhammad
The State Key Laboratory of Automotive Safety
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: engineer_fahad@rocketmail.com
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: engineer_fahad@rocketmail.com
Search for other works by this author on:
Liang Li
The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China;
Safety and Energy,
Tsinghua University,
Beijing 100084, China;
The Collaborative Innovation
Center of Electric Vehicles,
Beijing 100081, China
e-mail: liangl@mail.tsinghua.edu.cn
Center of Electric Vehicles,
Beijing 100081, China
e-mail: liangl@mail.tsinghua.edu.cn
Xiangyu Wang
The State Key Laboratory of Automotive Safety
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: wang-xy15@mails.tsinghua.edu.cn
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: wang-xy15@mails.tsinghua.edu.cn
Xiaosong Hu
The State Key Laboratory of Mechanical
Transmissions,
Chongqing University,
Chongqing 400044, China
e-mail: xiaosonghu@berkeley.edu
Transmissions,
Chongqing University,
Chongqing 400044, China
e-mail: xiaosonghu@berkeley.edu
Zheng Chen
Mechatronics and Intelligent Systems,
Faculty of Engineering,
University of Technology,
Sydney 2070, Australia
e-mail: jeffchenzheng@yahoo.com
Faculty of Engineering,
University of Technology,
Sydney 2070, Australia
e-mail: jeffchenzheng@yahoo.com
Jian Song
The State Key Laboratory of Automotive Safety
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: daesj@tsinghua.edu.cn
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: daesj@tsinghua.edu.cn
Fahad Muhammad
The State Key Laboratory of Automotive Safety
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: engineer_fahad@rocketmail.com
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: engineer_fahad@rocketmail.com
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 24, 2015; final manuscript received January 20, 2016; published online March 30, 2016. Assoc. Editor: Zongxuan Sun.
J. Dyn. Sys., Meas., Control. Jun 2016, 138(6): 061005 (10 pages)
Published Online: March 30, 2016
Article history
Received:
July 24, 2015
Revised:
January 20, 2016
Citation
Li, L., Wang, X., Hu, X., Chen, Z., Song, J., and Muhammad, F. (March 30, 2016). "A Modified Predictive Functional Control With Sliding Mode Observer for Automated Dry Clutch Control of Vehicle." ASME. J. Dyn. Sys., Meas., Control. June 2016; 138(6): 061005. https://doi.org/10.1115/1.4032830
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