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Control-Oriented Identification of An Electromechanically Actuated Metal V-Belt CVT

This document summarizes research on identifying a linearized model of an electromechanically actuated continuously variable transmission (CVT) suitable for control design. The researchers used an approximate realization technique to identify discrete state space models for the CVT ratio and slip dynamics from experimental step response data. They were able to obtain low-order linear models that captured the ratio- and slip-dependent behavior of the CVT and could be used for controller design to regulate the ratio and prevent excessive slippage during operation.

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30 views

Control-Oriented Identification of An Electromechanically Actuated Metal V-Belt CVT

This document summarizes research on identifying a linearized model of an electromechanically actuated continuously variable transmission (CVT) suitable for control design. The researchers used an approximate realization technique to identify discrete state space models for the CVT ratio and slip dynamics from experimental step response data. They were able to obtain low-order linear models that captured the ratio- and slip-dependent behavior of the CVT and could be used for controller design to regulate the ratio and prevent excessive slippage during operation.

Uploaded by

akshit247
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Control-Oriented Identification of an Electromechanically Actuated Metal V-belt CVT

Tim Klaassen, B. Bonsen, K.G.O. v.d. Meerakker,


B.G. Vroemen, P.A. Veenhuizen, M. Steinbuch

SAE Continuously Variable and Hybrid Transmissions

Davis, USA, September 24th 2004

/department of mechanical engineering

/dynamics & control technology

Outline
Continuously Variable Transmission
Electromechanical Actuation Simulation Model

Control Problem
Identification Conclusions

/department of mechanical engineering

/dynamics & control technology

Continuously Variable Transmission


How?
2 pulleys, each 2 sheaves
VDT pushbelt Bands & elements

Hydraulic actuation

Drawbacks:
Energy consumption Controllability: Ratio and clamping force

/department of mechanical engineering

/dynamics & control technology

Electromechanical Actuation
Goals:
Lower power consumption High actuation stiffness

Result:
Servomotor for ratio Servomotor for clamping force Energy exchange

/department of mechanical engineering

/dynamics & control technology

/department of mechanical engineering

/dynamics & control technology

/department of mechanical engineering

/dynamics & control technology

Simulation Model

/department of mechanical engineering

/dynamics & control technology

Simulation Model
Algebraic description of variator
Reduce DOF

Slip dependent belt torque Transient losses


Ide or Shafai

High order, nonlinear model


Not suitable for control design

Identification for linearized model /department of mechanical engineering /dynamics & control technology

Control Problem
CVT ratio control Prevent CVT from excessive slippage
Efficient variator operation

/department of mechanical engineering

/dynamics & control technology

Identification Technique
Approximate Realization
1. Perform step responses 2. Form Hankel matrices 3. Calculate Hankel singular values 4. Obtain descrete state space system

/department of mechanical engineering

/dynamics & control technology

Identification Technique
Closed loop identification

Sensitivity
/department of mechanical engineering /dynamics & control technology

Identification Results
Excitation on primary servomotor Pulley position output

/department of mechanical engineering

/dynamics & control technology

Identification Results
Excitation on secondary servomotor Slip output

/department of mechanical engineering

/dynamics & control technology

Identification Results - Plant

Low Medium Overdrive

/department of mechanical engineering

/dynamics & control technology

Identification Results - Plant

Low Medium Overdrive

/department of mechanical engineering

/dynamics & control technology

Identification Results - Plant

Low Medium Overdrive

/department of mechanical engineering

/dynamics & control technology

FTP72 driving cycle

/department of mechanical engineering

/dynamics & control technology

Belt torque

/department of mechanical engineering

/dynamics & control technology

Primary Clamping Force

/department of mechanical engineering

/dynamics & control technology

Slip

/department of mechanical engineering

/dynamics & control technology

Electrical power consumption

/department of mechanical engineering

/dynamics & control technology

Conclusions
Simulation model
High order, nonlinear Not suitable for control design

Approximate realization:
Linearized model suitable for control design Ratio and slip dependent system

Electromechanical actuation:
High bandwidth Low power consumption

/department of mechanical engineering

/dynamics & control technology

/department of mechanical engineering

/dynamics & control technology

Identification Results - Sensitivity

Low

Medium

Overdrive
/dynamics & control technology

/department of mechanical engineering

Identification Results - Sensitivity

Low

Medium

Overdrive
/dynamics & control technology

/department of mechanical engineering

Approximate Realization - Details

/department of mechanical engineering

/dynamics & control technology

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