Research Papers

A Generic Function for Automated Modeling and Feedforward Control of Planetary Gear Sets

[+] 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 August 3, 2017; final manuscript received March 2, 2018; published online May 3, 2018. Assoc. Editor: Ryozo Nagamune.

J. Dyn. Sys., Meas., Control 140(10), 101007 (May 03, 2018) (14 pages) Paper No: DS-17-1396; doi: 10.1115/1.4039859 History: Received August 03, 2017; Revised March 02, 2018

This paper introduces a generic function for automated modeling and feedforward control of planetary gears (PGs). Given the information on configuration, namely, the internal connection relationship between each PG, location of external torques, location and locking state of each clutch, this function outputs a ready-to-use kinetic model. The derived model can then be converted into numeric form by substituting the symbols in the matrix with real values and used for simulation, analysis or controller design. Since the output of the function is in symbolic form, it provides the theoretically most accurate results. Furthermore, compared to other kinds of automated modeling techniques for PG, the proposed function is: (a) more “straightforward” in a sense that it relies solely on direct matrix formulation and no other methods such as system identification are needed and therefore can be implemented in a single environment such as matlab; (b) more “generic” since it is capable of deriving both full-degrees-of-freedom (DOF) and reduced-DOF models for virtually any configuration regardless of the number, connection, and location of input/output shafts or clutches. By exchanging certain variables in the list of unknowns and knowns, the function can also be used to facilitate the design of feedforward controllers.

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Grahic Jump Location
Fig. 3

Free body diagram of the first PG

Grahic Jump Location
Fig. 2

Schematic of AT gearbox (“FD” is for “Final Drive”)

Grahic Jump Location
Fig. 1

PG set and the free body diagram

Grahic Jump Location
Fig. 5

Input and output parameters of the autoEQ function

Grahic Jump Location
Fig. 6

The matrix structure

Grahic Jump Location
Fig. 7

Matrix structure of CL_connection

Grahic Jump Location
Fig. 9

Block diagram of the feedforward-feedback controller

Grahic Jump Location
Fig. 10

Schematic of the gearbox for HEV (“FD” is for “Final Drive”)

Grahic Jump Location
Fig. 11

Structure of the simulink model

Grahic Jump Location
Fig. 12

Clutch torque capacity profiles, input shaft speed, on-going clutch slip speed, and output shaft torque for 1-2 upshift

Grahic Jump Location
Fig. 8

Slip speed reference in inertia phase




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