A control law is derived for the Zero-Inertia (ZI) powertrain, a non-linear system with an ill-defined relative degree. Classical non-linear feedback control of this system is impossible. The control law designed in this article uses approximate input-output linearisation. Stability of the closed loop system is proved using Lyapunov's direkt method and the theorem of Hartman-Grobman. In this article only simulations have been performed using the new control law. They show that this control law results in good tracking behaviour. It is recommended for future research to investigate the possibility to use the MIMO approach of Isidori (1995) for the ZI powertrain. When using a MIMO approach, Model-Based Predictive Control is an interesting approach for future research. New optimisation techniques have led to explicit form of the MPC controller (Bemporad et al., 2002), which makes this control design method also applicable for fast mechatronic systems such as transmissions. The prediction horizon on MPC control can be used instrumentally to take actions when the singular Zero Inertia point is approaching.


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    Title :

    Non-linear feedback control of the Zl powertrain


    Additional title:

    Nichtlineare Regelung eines trägheitslosen Antriebsstrangs


    Contributors:

    Published in:

    Publication date :

    2005


    Size :

    15 Seiten, 5 Bilder, 1 Tabelle, 21 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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