University of Twente Student Theses


Controller design for Dual-Hemi CVT

Bonilla Fernandez, A. (2016) Controller design for Dual-Hemi CVT.

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Embargo date:27 March 2025
Abstract:The aim of this assignment was to design a controller for the reconfiguration mechanism of the Dual-Hemi CVT. To do this, first, an ideal model of the system was developed. At the beginning, all the elements were considered as ideal, and based this premise, this model was used to identify all the torques that were caused by non idealities in the mechanism. This non idealities are attributed to the torques generated due to friction and spring residual forces. As a result of the identification, it was possible to observe that the non ideal behavior had a dependency with the position and velocity of the mechanism. Functions that approximately resemble this non ideal behavior were obtained, and combined together with the equations that describe the ideal behavior of the gravity compensator’s residual forces. Results showed that the estimation is quite good and capable of robustly compensate for these disturbances. Once a functional adaptive feed forward was developed, it was possible to consider the recon- figuration mechanism as an ideal plant. This makes the procedure for the feedback control design easier. At this stage of the project, we designed three different controllers using two different PID algorithms. Several experiments were run in the setup. It was found that a series PID presented the best results.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general, 53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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