Position Control of Gear Shift based on Sliding Mode Active Disturbance Rejection Control for Small-Sized Tractors

Jiang, Chao; Yin, Chenbo; Gao, Jie; Yuan, Guanhao

doi:10.1177/00368504221081966

Cited by 6 publications

(4 citation statements)

References 27 publications

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“…Motor drive is characterized by simple structure, cheap and convenient control, so motor is adopted as driving source. 29 , 30 Because the clutch driving mechanism is designed to convert the rotational motion of the DC motor to the linear motion of the actuator, the mode of worm gear and worm drive is employed in this paper. The transmission system of the actuator is composed of one-stage worm gear pair and two-stage planetary gear pair.…”

Section: Clutch Actuator Descriptionmentioning

confidence: 99%

Research on clutch position control based on backstepping method for small-sized tractors

2023

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Tractors installed automated manual transmission can avoid discomfort for the drivers because of excessive limbs intervention as well as improve shift quality. Automatic clutch control is critical for the performance of the automated manual transmissions. For a good operation, precise and fast control of clutch position is mandatory. In order to meet these requirements, an enhanced strategy focused on the clutch is presented adopting a simple tracking control method based on the detailed models in this study. Clutch models including DC motor model and mechanical actuator model are established and transformed to a controllable model. On the basis of the control model, a clutch position tracking control scheme is proposed composed of motor control circuit and motor angle tracking controller designed according to the backstepping method. Simulations are carried out in comparation with the internal model control method, and the results demonstrate the effectiveness of the presented control scheme by superior rapidity and accuracy of the controller response for the clutch position tracking system.

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Section: Clutch Actuator Descriptionmentioning

confidence: 99%

Research on clutch position control based on backstepping method for small-sized tractors

2023

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“…[ [16][17][18] Fuzzy Control and Systems It does not depend on precise mathematical models [19,20] Model Predictive Control Compensates for the uncertainty of the system [25][26][27][28][29][30]33,34] Sliding Mode Control Robust Control for systems subject to uncertainties and disturbance.…”

Section: Referencesmentioning

confidence: 99%

Sliding Mode Controller for Autonomous Tractor-Trailer Vehicle Reverse Path Tracking

Bin Salamah

2023

Applied Sciences

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In the past few years, there has been a growing interest among researchers in developing control systems for autonomous vehicles, specifically for tractor-trailer systems. This newfound interest is driven by the potential benefits of enhancing safety, reducing costs, and addressing labor shortages in the industry. Two industries that could reap the rewards of these systems’ advancements are cargo and agriculture transportation. One of the challenging tasks for the truck trailer vehicle is driving in reverse. Backward path tracking of tractor-trailers is a complex control problem with practical applications. The difficulty in controlling the vehicle arises due to its unstable internal dynamics, coupled nonlinear terms, and the under-actuated nature of the system. There is also a limit to the angle at which the steering can be turned before the risk of a jackknife accident increases significantly. In response to these challenges, this paper introduces a robust sliding mode controller designed for path tracking in reverse-driving tractor-trailer systems. The novelty of our work lies in addressing these challenges, which have not been extensively studied in the past. The proposed controller is analyzed, and its performance is tested and verified using different scenarios. The simulation examples show superior control performance, and we anticipate that this novel controller holds the potential to be widely adopted as a fundamental component in the path-tracking algorithms of autonomous truck trailer systems.

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“…In 27 , a feedback control strategy was proposed for an AMT system, in which the output of the controller could be accelerated by selecting maximum value or zero in order to control the shifting time. What’s more, Jiang et al 28 presented a sliding mode active disturbance rejection control algorithm to resolve the problems of the long shift time and uncertainty. For most of the ordinary control strategy, to obtain fast and steady response in the process of clutch position tracking system is difficult.…”

Section: Introductionmentioning

confidence: 99%

An improved adaptive position tracking strategy for automatic shift actuator with uncertain parameters

Yin,

Wang,

Gao

et al. 2024

Sci Rep

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Realizing precise and fast position control of the gear is a challenging issue because of its nonlinearity, parameter uncertainty and external disturbance. Therefore, this paper researches the clutch position control considering the influence because of the factor on the system performance. By virtue of the traditional adaptive control method, an improved strategy based on finite time theory is proposed to further improve the convergence rate as well as the position tracking precision. First, a model of electromechanical clutch actuator system is established by theoretical analysis. Then, an enhanced adaptive controller is designed using finite time idea by introducing power function in the virtual control. And parameter update rate is adopted in the control action. Next, the stability of the control system is proved theoretically. Finally, Matlab simulations and experimental bench test are carried out to exhibit the effectiveness of the presented method. The results show that the satisfactory performance has been achieved with accurate position tracking and fast convergence speed.

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Position Control of Gear Shift based on Sliding Mode Active Disturbance Rejection Control for Small-Sized Tractors

Cited by 6 publications

References 27 publications

Research on clutch position control based on backstepping method for small-sized tractors

Research on clutch position control based on backstepping method for small-sized tractors

Sliding Mode Controller for Autonomous Tractor-Trailer Vehicle Reverse Path Tracking

An improved adaptive position tracking strategy for automatic shift actuator with uncertain parameters

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