Robust Predictive Control Design For Optimal Wet-Clutch Engagement
2012 AMERICAN CONTROL CONFERENCE (ACC)(2012)
摘要
Modeling of hydraulic clutch transmissions is far from straightforward due to their nonlinear hybrid dynamics, i.e. switching between three dynamic phases. In this paper we identify a local linear model only for the constrained first phase, based on which a predictive controller is used to track a suitable engagement signal. The robustness of this controller in the latter two phases is guaranteed by making the constraints inactive and pre-tuning the control parameters based on its closed loop formulation and applying robust stability theorem. This controller is then implemented in real-time on a wet-clutch test setup and is shown to achieve optimal engagement.
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关键词
polynomials,hydraulic systems,robust control,robustness,optimal control,torque,pistons,predictive control,friction,clutches,uncertainty
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