Escolar Documentos
Profissional Documentos
Cultura Documentos
Abstract—During the past decade, Electro-Hydraulic system pulse, induction and the resistance of the solenoid, and the
has performed a significant role in industrial engineering as an magnetic force exerted to the valve plunger. The operation of
actuator for high performance and precision positioning the system under investigation contains two phases: charging
applications. In this case, many control methods have been and discharging. During charging phase the clutch is
developed for an electro-hydraulic actuated clutch. In this partially connected with the line pressure while during
paper a Linear Quadratic Regulators (LQR) is proposed to discharging phase the connection between the clutch and the
trajectory control of a wet clutch actuated by a hydraulic servo tank is partially opened.
valve mechanism. Simulation study was performed using
linearized mathematical model of the system implemented in
MATLAB software. Based on the simulation results
performance of the proposed controller was evaluated and
discussed.
I. INTRODUCTION
Recently, different types of control systems for an
automated clutch and transmission actuation have been
proposed such as: self-energizing clutch actuator system [1],
Sliding mode control of an electro-pneumatic clutch actuator
[2], improved clutch-to-clutch control in a dual clutch
transmission [3], robust feedback tracking controller design
for self-energizing clutch actuator of automated manual
transmission [4]. Linear-Quadratic-Regulator (LQR) is
proposed as the control system in this research. The linear
quadratic regulator is a well-known design technique that
provides practical feedback gains. As this method has
adopted either feedback or forward controller so it’s able to
provide a perfect tracking optimal control for an
electrohydraulic system [5]. For this purpose the LQR
method is used to control a wet clutch actuator model
presented in [6]. Simulation study was performed utilizing
block oriented MATLAB Software to illustrate the
performance of the proposed controller. In this case,
linearized mathematical model of the system under
investigation was used. Simulation results show very good
performance of the proposed controller during tracking of the
reference input signal.
II. ELECTRO-HYDRAULIC ACTUATED CLUTCH MODEL
The schematic representation of the electro-hydraulic
actuator wet clutch is depicted in Fig. 1. In the proposed
mechanism, line pressure is produced by a pump. Clutch side Figure 1. The Schematic of the Actuator and clutch mechanism [6].
pressure is provided by a pressure reducing valve. This valve
In addition, during the charging phase, the positive
is controlled by magnetic force generated by a pulse-width
displacement is resulted due to the positive difference
modulated voltage u, applied to a solenoid. The solenoid
between the magnetic force and the feedback force. In this
current, i, dependent to many parameters such as the electric
To describe the positive and negative plunger motion a ܳ ܭଵ ሺܲ െ ܲோ ሻ ܭଶ ሺܲ െ ܲோ ሻ െ ܭ ሺܲோ െ ்ܲ ሻ െ
force balance between the magnetic and the feedback forces ܭଵ ܲோ ܭ ݔൌ ܲݏோ (8)
ఉ
utilized and presented by:
where KD and TP are the flow-pressure coefficient of main
ܨ െ ܲܥ ܲܦ ൌ ܯ௩ ݏଶ ܭ ݔ (3) orifice and the tank pressure, respectively.
83
The final governing equations of the valve in the (10). Applying Newton’s second law to the forces on the
discharging phase was obtained making assumptions that piston it is possible to derive the governing equation for the
ͳ اǡ ವ ͳ اǤAnd ܭ െ ܭ ǡand presented as follows: clutch as:
ܵ ܵ ܣ ܲ ൌ ܯ ݏଶ ݔ ܤ ݔݏ ݔܭ (11)
ሺܭ ்ܲ ܳ ሻ ൬ ͳ൰ ൬ ͳ൰
ݓଵ ݓଶ where ܣ , ܲ , ݔ , ܯ , K, and ܤ are the area of piston, the
ͳ ͳ ܥ ܦ pressure from the piston chamber, the piston displacement,
ܭ ݔቈͳ ቆ െ ቇܵ
ݓଵ ݓଶ ܭ ܭ total mass of the piston, load spring gradient and the viscous
ͳ ܥ ܦ damping coefficient of the piston, respectively.
ቆ െ ቇ ܵଶ
ݓଵ ݓଶ ܭ ݓଶ ܭ ݓଵ Utilizing the continuity equation for the piston chamber
ܵ ܵ ܵ we have:
ൌ ܲோ ܭ ൬ ͳ൰ ൬ ͳ൰ ൬ ͳ൰
ݓଵ ݓଶ ݓଷ
(9) ܳ ൌ ܭଷ ሺܲோ െ ܲ ሻ ൌ
ఉ
ܲ ܣ ݔݏ (12)
The actuator model can be presented by combining Eqs. where ܭଷ , ܸ are the flow-pressure coefficient of pipe from
(3), (4) and (5) as: valve actuator to the clutch, the piston chamber volume,
మ ವమ
respectively.
಼భ ಼మ ௦మ The block diagram representation of the system under
ܨଵ െ ݔݏ ൩ ൌ ܭݔ ቀ ͳቁ (10)
ೞ
ቀ ାଵቁ
ೢభ
ೞ
ቀ ାଵቁ
ೢమ
మ
௪ investigation is constructed using block oriented capabilities
Simulink and MATLAB and depicted in Fig. 3. The detailed
ܭ transfer functions of the block diagram are given in Table 1.
where, ݓ ൌ ට ൗ ܯis the mechanical natural frequency In this block diagram, a switch block was used to select
௩
of the actuator plunger. appropriate charging or discharging phases of the actuator.
The electro-hydraulic actuator dynamic model can be The numerical parameters of the model needed for
presented as Eqs. (3), (4), (5), (6), and (7), for the charging simulation study is extracted from [6] and given in Table 2.
phase of the actuator, and by Eqs. (3), (4), (5), (8), and (9)
for the actuator together with the plunger dynamics given by
84
TABLE II. THE NUMERICAL PARAMETERS OF THE MODEL NEEDED ܺ ൌ ܺܥ (17)
FOR SIMULATION STUDY IS EXTRACTED FROM [6]
ܺ
ݔ ൌ ሾܥ Ͳሿ ൬ ߦ ൰ (19)
Or
ܺሶ ൌ ሺ ܣെ ܭܤሻܺ ܭܤூ ߦ (15) Figure 4. The proposed control algorithm to control the system under
investigation [7].
Refer to the configuration of the closed loop system
illustrated in Fig. 4. We can write: The performance of the designed controller from the
stability point of view and tracking ability are evaluated by
ߦሶ ൌ ݎ െ ܺܥ (16) simulation results. In this case, a trapezoidal reference signal
85
served as the input signal to evaluate the tracking issue. The Figs. 7, and 8, for x<a, and xta, respectively. Simulation
performance of the system for during tracking is simulated results illustrate that the proposed controller can attenuate the
and illustrated in Figs. 5, and 6, for x<a, and xta, effect of the input disturbance and accurately track the
respectively. The simulation results illustrated in these reference input.
figures indicate very good performance of the proposed
controller for each case.
2.5
1.5
0.5
0
0 0.5 1 1.5
t(s)
Figure 5. Tracking results for system 1: ݔ ߙ Figure 7. Tracking results for system 1 by adding disturbance: ݔ ߙ.
2.5
1.5
0.5
-0.5
0 0.5 1 1.5
t(s)
86
reasonable controller for electro-hydraulically actuated wet Automated Manual Transmission,” No. 2013-01-2587. SAE
clutch. Technical Paper, 2013
[5] Ghazali, Rozaimi, Y. M. Sam, Mohd Fua'ad Rahmat, Zulfatman
REFRENCES Zulfatman, and A. W. I. M. Hashim, "Simulation and experimental
studies on perfect tracking optimal control of an electrohydraulic
[1] Kim, Jinsung, and Seibum B. Choi,"Self-energizing clutch actuator actuator system," Journal of Control Science and Engineering ,2012,
system: Basic concept and design," Proc. FISITA2010 World PP: 10-1155.
Automotive Congress, 2010.
[6] Lazar, Corneliu, Constantin Florin Caruntu, and Andreea Elena Balau,
[2] Helgeland, Erlend, "Sliding mode control of an electro-pneumatic "Modelling and predictive control of an electro-hydraulic actuated
clutch actuator," Institutt for teknisk kybernetikk, 2008. wet clutch for automatic transmission," In Industrial Electronics
[3] Zhe Wang,”Improved clutch-to-clutch control in a dual clutch (ISIE), 2010 IEEE International Symposium on, 2010, pp. 256-261.
transmission,” University of Florida, 2014. [7] Ogata, Katsuhiko, "Modern control engineering," 1996.
[4] Oh, Jiwon, Jinsung Kim, and Seibum Choi, “Robust Feedback
Tracking Controller Design for Self-Energizing Clutch Actuator of
87