| MODEL REFERENCED ADAPTIVE CONTROL TO COMPENSATE SLIP-STICK TRANSITION DURING CLUTCH ENGAGEMENT |
| L. CHEN1, G. XI2, C. L. YIN1 |
1Shanghai Jiao Tong University
2United Automotive Electronics System |
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| ABSTRACT |
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Clutches are widely used in various vehicle powertrains. The engagement process of a friction clutch has three phases, i.e., open, slipping, and sticking. Transitions between different phases introduce a discontinuity to the powertrain dynamics, which has been neglected in previous research. A model referenced adaptive controller (MRAC), based on Popov hyper-stability criterion, is designed to compensate the discontinuity. MRAC adjusts the frictional torque along with the errors of the state variables compared with those of a referenced model. The designed MRAC is applied to a clutch in a bus. Simulation and experimental results under fast and slow startup cases show that MRAC can simultaneously reduce vehicle jerk and frictional dissipation when compared with the conventional controller. |
| Key Words:
Popov hyper-stability, Model reference, Adaptive control, Clutch engagement, Slip-stick transition |
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