Design of nonlinear shaft torque observer for trucks with Automated Manual Transmission |
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Authors: | Bingzhao Gao Hong Chen Yan Ma Kazushi Sanada |
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Affiliation: | aState Key Laboratory of Automobile Dynamic Simulation, Jilin University (Campus NanLing), Renmin Str. 5988, Changchun 130025, PR China;bDepartment of Mechanical Engineering, Yokohama National University, 79-5 Tokiwadai, Hodogaya-Ku, Yokohama 240-8501, Japan;cDepartment of Control Science and Engineering, Jilin University (Campus NanLing), Renmin Str. 5988, Changchun 130025, PR China |
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Abstract: | Knowledge of drive axle shaft torque improves the longitudinal dynamic performance of vehicles. An axle shaft torque observer is proposed for vehicles with stepped ratio transmissions, which is a class of switching systems. Model uncertainties, including the steady state error and the unmodeled dynamics, are considered as an additive disturbance input and the observer is designed such that the error dynamics is input-to-state stable for all gear positions. The lowest possible gain of the designed observer is achieved by solving a set of LMIs. In the designed reduced-order observer, the complex nonlinear characteristics of powertrain systems are included and appears as their usual form of MAPs. Finally, the proposed observer is tested on an AMESim powertrain simulation model of a medium-duty truck. |
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Keywords: | Automated Manual Transmission Shaft torque estimation Reduced-order observer Input-to-state stability |
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