1. Tim Klaassen, B. Bonsen, K.G.O. v.d. Meerakker, B.G. Vroemen, P.A. Veenhuizen, M. Steinbuch SAE Continuously Variable and Hybrid Transmissions Davis, USA, September 24th 2004 department of mechanical engineering / dynamics & control technology / Control-Oriented Identification of an Electromechanically Actuated Metal V-belt CVT

2. department of mechanical engineering / dynamics & control technology / Outline Continuously Variable Transmission Electromechanical Actuation Simulation Model Control Problem Identification Conclusions

3. department of mechanical engineering / dynamics & control technology / Continuously Variable Transmission How? –2 pulleys, each 2 sheaves –VDT pushbelt Bands & elements –Hydraulic actuation Drawbacks: –Energy consumption –Controllability: Ratio and clamping force

4. department of mechanical engineering / dynamics & control technology / Electromechanical Actuation Goals: –Lower power consumption –High actuation stiffness Result: –Servomotor for ratio –Servomotor for clamping force –Energy exchange

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7. department of mechanical engineering / dynamics & control technology / Simulation Model

8. department of mechanical engineering / dynamics & control technology / Simulation Model Algebraic description of variator –Reduce DOF Slip dependent belt torque Transient losses –Ide or Shafai High order, nonlinear model –Not suitable for control design Identification for linearized model

9. department of mechanical engineering / dynamics & control technology / Control Problem CVT ratio control Prevent CVT from excessive slippage –Efficient variator operation

10. department of mechanical engineering / dynamics & control technology / Identification Technique Approximate Realization 1. Perform step responses 2. Form Hankel matrices 3. Calculate Hankel singular values 4. Obtain descrete state space system

11. department of mechanical engineering / dynamics & control technology / Identification Technique Closed loop identification Sensitivity

12. department of mechanical engineering / dynamics & control technology / Identification Results Excitation on primary servomotor Pulley position output

13. department of mechanical engineering / dynamics & control technology / Identification Results Excitation on secondary servomotor Slip output

14. department of mechanical engineering / dynamics & control technology / Identification Results - Plant Low Medium Overdrive

15. department of mechanical engineering / dynamics & control technology / Identification Results - Plant Low Medium Overdrive

16. department of mechanical engineering / dynamics & control technology / Identification Results - Plant Low Medium Overdrive

17. department of mechanical engineering / dynamics & control technology / FTP72 driving cycle

18. department of mechanical engineering / dynamics & control technology / Belt torque

19. department of mechanical engineering / dynamics & control technology / Primary Clamping Force

20. department of mechanical engineering / dynamics & control technology / Slip

21. department of mechanical engineering / dynamics & control technology / Electrical power consumption

22. department of mechanical engineering / dynamics & control technology / Conclusions Simulation model –High order, nonlinear –Not suitable for control design Approximate realization: –Linearized model suitable for control design –Ratio and slip dependent system Electromechanical actuation: –High bandwidth –Low power consumption

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24. department of mechanical engineering / dynamics & control technology / Identification Results - Sensitivity Low Medium Overdrive

25. department of mechanical engineering / dynamics & control technology / Identification Results - Sensitivity Low Medium Overdrive

26. department of mechanical engineering / dynamics & control technology / Approximate Realization - Details