Sliding mode trajectory tracking control of electro-pneumatic clutch actuator
QIAN Peng-fei1, TAO Guo-liang1, MENG De-yuan1, ZHONG Wei 2, BAN Wei1, ZHU Xiao1
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; 2. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China
In order to realize electro-pneumatic control for automated manual transmission, an electro-pneumatic clutch actuator system consists of a position sensor, two pressure sensors, and four two-way solenoid valves was established. A sliding mode control algorithm which is well known for its robustness to external disturbance and system uncertainties was adopted. Meanwhile, in order to reduce control chatter to improve the control law, a dead zone was defined. By implementing a sliding mode control law directly without using pulse-width modulation, this approach adopted has a mode of energy conservation which reduces noise, prolongs the on/off valve’s life and increases the reliability of the hardware system. The tracking experiments of sinusoidal signal, smooth square trajectory and clutch reference signal were conducted respectively. The good tracking and relatively low steady-state errors show that the used control algorithm is effective and feasible.
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