Research Papers

Optimal Speed Synchronization Control With Disturbance Compensation for an Integrated Motor-Transmission Powertrain System

[+] Author and Article Information
Jianfeng Huang

School of Mechanical Engineering,
Shanghai Jiao Tong University,
Building D, Dongchuan Road 800,
Minhang District,
Shanghai 200240, China
e-mail: sjtuhuangjianfeng@126.com

Jianlong Zhang

School of Mechanical Engineering,
Shanghai Jiao Tong University,
Building D, Dongchuan Road 800,
Minhang District,
Shanghai 200240, China
e-mail: 15921111588@139.com

Wei Huang

School of Mechanical Engineering,
Shanghai Jiao Tong University,
Building D, Dongchuan Road 800,
Minhang District,
Shanghai 200240, China
e-mail: huangwei1993223@163.com

Chengliang Yin

School of Mechanical Engineering,
Shanghai Jiao Tong University,
Building D, Dongchuan Road 800,
Minhang District,
Shanghai 200240, China
e-mail: clyin1965@sjtu.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received June 12, 2018; final manuscript received October 13, 2018; published online November 22, 2018. Assoc. Editor: Yahui Liu.

J. Dyn. Sys., Meas., Control 141(4), 041001 (Nov 22, 2018) (11 pages) Paper No: DS-18-1284; doi: 10.1115/1.4041757 History: Received June 12, 2018; Revised October 13, 2018

Motor speed synchronization is important in gear shifting of emerging clutchless automated manual transmissions (AMT) for electric vehicles and other kinds of parallel shaft-based powertrains for hybrid electric vehicles. This paper proposes a speed synchronization controller design for a kind of system integrating a traction motor and a dual clutch transmission (DCT), using optimal control and disturbances compensation. Based on the relativity between magnitudes of different system parameters, the optimal control law is simplified into the proportional (P) one to ease design and analysis. Relationship between the feedback gain and the duration of speed synchronization process is derived in an explicit way to facilitate model-based determination of controller parameters. To alleviate overshoot while maintaining predesigned performances, the explicit nominal speed trajectory rather than the fixed setpoint speed is chosen as the reference signal. To improve robustness of the controller, a time-domain disturbance observer (DO) is added to cancel effects from parameter drift, unmodeled dynamics, and other exogenous disturbances. As a result, the proposed controller possesses merits of few controller parameters to be determined, good transient response, and robustness. These features make it suitable for practical engineering use. Simulation and experiment results verify its effectiveness in attaining both a fast and small-overshoot speed synchronizing process.

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Fig. 3

The motor shaft (EM: electric motor)

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Fig. 2

Main control units and communicated signals

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Fig. 1

Integrated motor-transmission powertrain system (EM: electric motor and ICE: internal combustion engine)

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Fig. 4

Simulated model response versus measured data

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Fig. 5

Block diagram of the motor speed synchronization controller

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Fig. 13

Experiment results of P + DO versus PI for motor speed synchronization control

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Fig. 6

Simulation results for different tTTS

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Fig. 10

Experiment results for different tTTS (E=1rad/s, L=0.1, and r=xn(tf))

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Fig. 11

Experiment results for different reference signal (tTTS=0.2s, E=1rad/s, and L=0.1)

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Fig. 12

Experiment results for different observer gains (tTTS=0.2s, E=1rad/s, and r=xn)

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Fig. 7

Simulation results for different reference signals (tTTS=0.2s, E=1rad/s, and L=1)

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Fig. 9

Typical motor speed synchronization processes (tTTS=0.5s, E=1rad/s, L=1, and r=xn(tf))



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