This paper presents kinematic and dynamic analysis of a holonomic vehicle with continuously-variable transmission. Four ball wheels, independently actuated by DC motors, enable for moving the vehicle in any direction within the plane and rotating it around its center. The angle between the two beams holding the balls can be changed to alter the gear ratio and other dynamic characteristics of th...

The Center for Transportation Research (CTR) Vehicle Systems team modified a Nissan CK-2 Continuously Variable Transmission (CVT) for a diesel hybrid powertrain application. Mechanical and electrical modifications were made to the CVT, both internal and external to the transmission. The goal of this experiment was to investigate and demonstrate the potential of CVT for diesel engines hybrid ele...

An approach to solve the mechatronic design problem is to formulate the problem as a multiobjective dynamic optimization problem (MDOP), where kinematic and dynamic models of the mechanical structure and the dynamic model of the controller are considered besides a set of constraints and a performance criteria. This design methodology can provide a set of optimal mechanical and controller parame...

Advances in wind turbine technology have allowed the machines to take advantage of economies of scale. The increased size and power requirements of modern turbines have presented new challenges to the more expensive components, particularly the gearboxes. This paper focused on a new control system for wind turbines in above-rated, or Region 3, wind regimes. The control goals were to regulate th...

This paper develops a continuous-time model and controller for the drivetrain dynamics and hydraulics governing the ratio dynamics of a metal V-belt continuously variable transmission (CVT). In developing the drivetrain dynamics, the separate notions of geometric ratio and speed ratio and their relation to each other through the output power efficiency of the CVT are introduced. A data driven m...

The environment has recently led to very severe regulations on fuel consumption and exhaust emissions. I propose a scheme to minimize rate of fuel consumption for a direct fuel injection engine used by combination with a continuously variable transmission. Target values for the engine and the transmission which minimizes fuel consumption ensuring driving performance is calculated based on the n...

A systematic methodology is developed for choosing the optimum ratio trajectory of a continuously variable transmission in a passenger vehicle. The optimum CVT ratio schedule is formulated as a constrained optimization problem with maximum fuel economy as the objective function and driveability concerns and physical limitations included as the constraints. The key notion to achieving good drive...

The wheel speed control problem of an automotive powertrain equipped with a conventional spark-ignition engine directly connected to a continuously variable transmission (CVT) and an electronic throttle is considered. We revisit the seminal work by Guzzella and Schmid and show that the control structure that dedicates the throttle actuator to maintaining engine operation at the maximum fuel eff...

Test methods and data acquisition system specifications are described for measurements of the energy consumption of the control system of a servo-pump continuously variable transmission (CVT). Dynamic measurements of the power consumption of the servopump CVT control system show that the control system draws approximately 18.9 W-hrs of electrical energy over the HWFET cycle and 13.6 W-hrs over ...

Two continuously variable transmissions are examined, one that relates a pair of linear speeds and another that relates a pair of angular speeds. These devices are elemental in the design of cobots, a new class of robot that creates virtual guiding surfaces to aid a human operator in assembly tasks. Both of these transmissions are traction drive mechanisms that rely on the support of either lat...