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research-article

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

[+] Author and Article Information
Jianfeng Huang

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

Jianlong Zhang

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

Wei Huang

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

Chengliang Yin

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

1Corresponding author.

ASME doi:10.1115/1.4039859 History: Received August 03, 2017; Revised March 02, 2018

Abstract

This paper introduces a generic function for automated modeling and feedforward control of planetary gears (PG). 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, which contains the symbolic matrices. The derived kinetic 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-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.

Copyright (c) 2018 by ASME
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