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

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