Observer-Based Predictive Control of Nonlinear Clutchless Automated Manual Transmission for Pure Electric Vehicles: An LPV Approach

This study develops a novel robust control approach for a nonlinear clutchless automated manual transmission (CAMT) in pure electric vehicles. The developed approach comprises model predictive control (MPC), observer, and polytopic linear parameter varying (LPV) model with inexactly measured scheduling parameters. The stability of the online-designed MPC and the offline-designed observer, as well as the overall closed-loop system, is guaranteed by presenting the quadratic Lyapunov function stability conditions in terms of linear matrix inequalities (LMIs). Moreover, by the means of sampler and zero-order-hold (ZOH), the discrete-time LPV-MPC is merged with continuous-time LPV-observer to construct the overall observer-based controller. The first contribution of the presented approach is that the issue of inexactly measured scheduling parameters is considered, which avoids the simplifying separation principal technique. The second contribution is assuring the stability of the closed-loop system with hybrid continuous- and discrete-time systems. Also, the LPV-observer design procedure utilizes the singular value decomposition (SVD) method to reduce the conservativeness; and, a constrained one-step-ahead PV-MPC is suggested. Finally, to illustrate the performance improvement and optimality of the developed controller, it is applied to a nonlinear CAMT system and comparison numerical results are given.

[1]  Junqiang Xi,et al.  Robust speed synchronization control for clutchless automated manual transmission systems in electric vehicles , 2015 .

[2]  Baocang Ding,et al.  Off-line approach to dynamic output feedback robust model predictive control , 2013, Syst. Control. Lett..

[3]  Xiangyu Wang,et al.  Dual-Loop Self-Learning Fuzzy Control for AMT Gear Engagement: Design and Experiment , 2018, IEEE Transactions on Fuzzy Systems.

[4]  Nam Kyu Kwon,et al.  State-feedback control for LPV systems with interval uncertain parameters , 2015, J. Frankl. Inst..

[5]  Ricardo C. L. F. Oliveira,et al.  ℋ∞ dynamic output feedback for LPV systems subject to inexactly measured scheduling parameters , 2013, 2013 American Control Conference.

[6]  Baocang Ding,et al.  One-step ahead robust MPC for LPV model with bounded disturbance , 2020, Eur. J. Control.

[7]  Zhiwu Li,et al.  An observer‐based output feedback robust MPC approach for constrained LPV systems with bounded disturbance and noise , 2019, International Journal of Robust and Nonlinear Control.

[8]  M. Montanari,et al.  Modelling of an automated manual transmission system , 2007 .

[9]  Paul D. Walker,et al.  Dynamics and control of clutchless automated manual transmissions for electric vehicles , 2017 .

[10]  Wim Michiels,et al.  Combining Convex–Concave Decompositions and Linearization Approaches for Solving BMIs, With Application to Static Output Feedback , 2011, IEEE Transactions on Automatic Control.

[11]  Chyuan-Yow Tseng,et al.  Advanced shifting control of synchronizer mechanisms for clutchless automatic manual transmission in an electric vehicle , 2015 .

[12]  Zongde Fang,et al.  Speed synchronization control for integrated automotive motor–transmission powertrain system with random delays , 2015 .

[13]  Masayuki Sato.  Gain-Scheduled Flight Controller Using Bounded Inexact Scheduling Parameters , 2018, IEEE Transactions on Control Systems Technology.

[14]  Zhiwu Li,et al.  Observer-based output feedback robust MPC via zonotopic set-membership state estimation for LPV systems with bounded disturbances and noises , 2020, J. Frankl. Inst..

[15]  D. Ho,et al.  Robust stabilization for a class of discrete-time non-linear systems via output feedback: The unified LMI approach , 2003 .

[16]  Taher Niknam,et al.  Model-predictive control based on Takagi-Sugeno fuzzy model for electrical vehicles delayed model , 2017 .

[17]  A. Sadeghzadeh.  Gain‐scheduled filtering for linear parameter‐varying systems using inexact scheduling parameters with bounded variation rates , 2016 .

[18]  Ai Xin,et al.  Aggregation of EVs for Primary Frequency Control of an Industrial Microgrid by Implementing Grid Regulation & Charger Controller , 2020, IEEE Access.

[19]  Qiang Song,et al.  Speed Synchronization Control for Integrated Automotive Motor-Transmission Powertrains Over CAN Through a Co-Design Methodology , 2018, IEEE Access.

[20]  Oh-Min Kwon,et al.  Composite synchronization control for delayed coupling complex dynamical networks via a disturbance observer-based method , 2020 .

[21]  Jianhua Wang,et al.  Resilient RMPC for Cyber-Physical Systems With Polytopic Uncertainties and State Saturation Under TOD Scheduling: An ADT Approach , 2020, IEEE Transactions on Industrial Informatics.

[22]  Baocang Ding,et al.  Output feedback robust MPC for LPV system with polytopic model parametric uncertainty and bounded disturbance , 2016, Int. J. Control.

[23]  Inexact induced L2 observer‐based control of polytopic LPV systems: application to clutchless automated manual transmission of pure electric vehicles , 2020 .

[24]  Sireesha Tamada,et al.  Review on automatic transmission control in electric and non-electric automotive powertrain , 2020 .

[25]  Zhiguo Zhao,et al.  Estimation of Transmission Input&Output Shaft Torque and Drive Wheel Speed for Compound Power Split Powertrain Based on Unknown Input Observer , 2020, IEEE Transactions on Vehicular Technology.

[26]  Xiaoyuan Zhu,et al.  Takagi-Sugeno fuzzy model based shaft torque estimation for integrated motor-transmission system. , 2019, ISA transactions.

[27]  Afef Fekih,et al.  Robust Performance Improvement of Lateral Motion in Four-Wheel Independent-Drive Electric Vehicles , 2020, IEEE Access.

[28]  Xubin Ping,et al.  Output Feedback Robust MPC Based on Off‐line Observer for LPV Systems via Quadratic Boundedness , 2017 .

[29]  Mohammad Hassan Asemani,et al.  A robust H∞ observer-based controller design for uncertain T-S fuzzy systems with unknown premise variables via LMI , 2013, Fuzzy Sets Syst..

[30]  Toshiharu Sugie,et al.  Output feedback model predictive control for LPV systems based on quasi-min-max algorithm , 2011, Autom..

[31]  Mario Pisaturo,et al.  A survey on modeling and engagement control for automotive dry clutch , 2018, Mechatronics.

[32]  Faryar Jabbari,et al.  Control of LPV systems with partly measured parameters , 1999, IEEE Trans. Autom. Control..

[33]  Mohammad Hassan Khooban,et al.  Nonlinear Model Predictive Speed Control of Electric Vehicles Represented by Linear Parameter Varying Models With Bias Terms , 2019, IEEE Journal of Emerging and Selected Topics in Power Electronics.

[34]  M. H. Asemani,et al.  Induced L2-norm observer-based controller design for continuous-time polytopic LPV systems , 2017, 2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA).

[35]  Stefano Di Cairano,et al.  Lyapunov based predictive control of vehicle drivetrains over CAN , 2013 .

[36]  Fen Wu,et al.  Induced L2‐norm control for LPV systems with bounded parameter variation rates , 1996 .

[37]  Didier Theilliol,et al.  Robust H−/H∞ fault detection observer design for descriptor-LPV systems with unmeasurable gain scheduling functions , 2015, Int. J. Control.

[38]  Alan G. Holmes,et al.  The GM “Voltec” 4ET50 Multi-Mode Electric Transaxle , 2011 .

[39]  Alireza Khayatian,et al.  Model predictive-based reset gain-scheduling dynamic control law for polytopic LPV systems. , 2018, ISA transactions.

[40]  Paul D. Walker,et al.  Power-on shifting in dual input clutchless power-shifting transmission for electric vehicles , 2018 .

[41]  Faris Alzahrani,et al.  Design of observer-based non-fragile load frequency control for power systems with electric vehicles. , 2019, ISA transactions.

[42]  Masayuki Sato.  One-shot design of performance scaling matrices and observer-based gain-scheduled controllers depending on inexact scheduling parameters , 2020, Syst. Control. Lett..

[43]  Mir Saman Rahimi Mousavi,et al.  Estimation of Synchromesh Frictional Torque and Output Torque in a Clutchless Automated Manual Transmission of a Parallel Hybrid Electric Vehicle , 2017, IEEE Transactions on Vehicular Technology.

[44]  Zongde Fang,et al.  Robust control of integrated motor-transmission powertrain system over controller area network for automotive applications , 2015 .

[45]  Yutao Luo,et al.  Lightweight design of an in-wheel motor using the hybrid optimization method , 2013 .

[46]  Yan Song,et al.  N-Step MPC for Systems With Persistent Bounded Disturbances Under SCP , 2020, IEEE Transactions on Systems, Man, and Cybernetics: Systems.