A Model-Assisted Reduced-Order ESO Based Cascade Controller for Sensorless Control of Independent Gear-Shifting Actuators

摘要: Independent gear-shifting actuation systems, which are based on linear electromagnetic actuators (LEMAs), have tremendous potential to minimize the shifting duration of automated mechanical transmission (AMT). A velocity estimator measurements current is designed achieve sensorless control actuator by using only electrical subsystem, thus avoiding use a complete system model that contains uncertainties. The elimination position sensor simplifies structure and reduces manufacturing cost. To enhance robustness control, model-assisted reduced-order extended state observer (ESO) cascade controller constructed, take parameter uncertainties external load force as lumped disturbance observe compensate them dynamically. Finally, simulation experimental results shown demonstrate effectiveness proposed method.