Hamilton Jacobi Inequality based sliding mode robust control for optimal torque transmissions of Dry Dual Clutch assembly in torque phase of shift

Due to significant advantages in compact structures, rapid accurate responses to drivers' demands, and cheap prices in manufacturing, fork lever actuators have been widely utilized in Dry Dual Clutch Transmission (DDCT) vehicles. In the present research, a dynamic modelling technique for such actuators is briefly introduced. Then, two order nonlinear dynamic equations of the DDCT powertrain are built for the first time, by integrating dynamic models of the actuators into that of the DDCT driveline. Further, to investigate tracking control strategy aiming at high precision tracings to optimal angular velocities of engine and dual clutch, a sliding mode robust control strategy based on Hamilton Jacobi Inequality (HJI) theory is proposed. Accurate motor currents and throttle open, which guarantee robustness to varying friction coefficients, friction wears of friction plates and external disturbances, are derived. Finally, robustness of HJI sliding mode robust control is investigated through numerical simulations on MATLAB Simulink platform. After careful observations of simulation results, it can be concluded that HJI sliding mode control algorithm possesses strong robustness to varying friction coefficients, friction wears and external disturbances. Besides, in comparison with traditional PID control and normal sliding mode control, it can also be concluded that HJI sliding mode control strategy not only eliminates dramatical reductions of PID tracking precisions induced by modelling uncertainties and disturbances mentioned above, but also prevent high frequency chatterings induced by corresponding reaching laws in normal sliding mode control.