iii iv LIST OF TABLES ................................ ................................ ................................ ........ vi LIST OF FIGURES ................................ ................................ ................................ ..... vii KEY TO SYMBOL AND ABBREVIATIONS ................................ .......................... iii CHAPTER 1: INTRODUCTION ................................ ................................ .................. 1 1.1 Motivation ................................ ................................ ................................ ............ 1 1.2 Existing works ................................ ................................ ................................ ...... 2 1.3 Vehicl e Model Overview ................................ ................................ ..................... 2 1.4 Experiment Equipment/Software ................................ ................................ ......... 5 CHAPTER 2: VEHICLE MODEL: PART ONE ................................ .......................... 6 2.1 Introduction ................................ ................................ ................................ .......... 6 2.2 Driver Model ................................ ................................ ................................ ........ 6 2.3 Shifting Threshold ................................ ................................ ................................ 7 2.4 Startup Logic ................................ ................................ ................................ ........ 8 2.5 Shifting Logic ................................ ................................ ................................ ....... 8 2.6 Actuat or ................................ ................................ ................................ .............. 10 2.7 Clutch parameters ................................ ................................ ............................... 11 CHAPTER 3: VEHICLE MODEL: PART TWO ................................ ....................... 13 3.1 Introduction ................................ ................................ ................................ ........ 13 3.2 Driveline Physical Model ................................ ................................ ................... 13 3.3 Transfer Function and State Model ................................ ................................ .... 17 3.3.1 Transfer Function and Continuous - Time State - Space Model ..................... 17 3.3.2 Discrete - Time State - Space Model ................................ ............................... 20 CHAPTER 4: INPUT TORQUE ESTIMATION ................................ ........................ 22 4.1 System Controllability and Observability ................................ .......................... 22 4.2 Prediction with a Feedforward Regulator ................................ .......................... 24 4.2.1 Deadbeat Design ................................ ................................ .......................... 24 4.2.2 Regular Pole Placement Design ................................ ................................ .. 26 4.2.3 LQR (Linear Quadratic Regulator) design ................................ .................. 27 4.3 Integral Regulation Method (Discrete - Time) ................................ ..................... 31 4.3.1 Integral Regulator Design ................................ ................................ ............ 31 v 4.3.2 Deadbeat Design Comparison ................................ ................................ ..... 35 CHAPTER 5: EFFECTS OF MODELING ERROR AND SOLUTIONS .................. 40 5.1 Introduction ................................ ................................ ................................ ........ 40 5.2 Modeling Error Due to Change of Vehicle Mass ................................ ............... 40 5.3 Solutions to Handle the Vehicle Mass Modeling Error ................................ ..... 41 5.4 Gradient Effect ................................ ................................ ................................ ... 42 CHAPTER 6: FRICTION COEFFICIENT CALCULATION ................................ .... 44 6.1 Calculation Method and Result ................................ ................................ .......... 44 CHAPTER 7: CONCLUSION AND FUTURE WORK ................................ ............. 47 7.1 Conclusion ................................ ................................ ................................ .......... 47 7.2 Future Improvement ................................ ................................ ........................... 47 APPENDIX ................................ ................................ ................................ .................. 48 REFERENCES ................................ ................................ ................................ ............ 54 vi LIST OF TABLES ................................ ................................ .................. ................................ ................................ ...................... ................................ ................................ .. vii LIST OF FIGURES ................................ ................................ ......... ............................... ................................ ................................ ....................... ................................ ....................... ................................ ................................ ................... ................................ ... ................................ ................................ ..... ................................ ................. ................................ ............................... ................ ....................... .. ................................ ......................... ................................ ................................ ................................ .................. ................................ ................................ ................................ ................................ ................. ................................ ................. ............... ................................ .................... ............................. ................................ .... ................................ viii ................................ ................................ ................................ ... ................................ ........... .............................. ................................ ................................ ........ ................................ .... ................................ ................................ ......... ................................ .... ................................ ................................ .... ............ ................................ ................................ ........ ................................ .......... ................................ ................................ ................... ................................ ................................ ............. ................................ ................................ ...................... ................................ ................................ .. iii KEY TO SYMBOL S AND ABBREVIATIONS N*m/rad iv N*m/(rad/s) 1 CHAPTER 1: INTRODUCTION 2 3 4 5 6 CHAPTER 2: VEHICLE MODEL : PART ONE 7 8 9 10 11 12 13 CHAPTER 3: VEHICLE MODEL : PART TWO 14 Gear Gear Ratio 1 3.78 2 2.18 3 1.43 4 1.03 5 0.935 6 0.84 15 16 0.01 kgm 2 17 0.02 kgm 2 0.01 kgm 2 157.7504 kgm 2 K 1500 N*m/rad C 20 N*m/(rad/s) 18 19 20 21 22 CHAPTER 4: INPUT TORQUE ESTIMATION 23 24 and t he associated close d - loop system is 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 CHAPTER 5: EFFECTS OF MODELING ERROR AND SOLUTIONS 41 42 43 44 CHAPTER 6 : FRICTION COEFFICIENT CALCULATION 45 46 47 CHAPTER 7 : CONCLUSIO N AND FUTURE WORK 48 APPENDI X 49 50 51 52 53 54 REFERENCES 55 [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12] [13] [14] 56 [15] [16]