Design of a Gear Ratio Servo Control System for Troidal Continuously Variable Transmission

摘要

This paper describes modeling of a gear ratio servo system of a troidal continuously variable transmission and design of a controller for the system. It is found through experiments that the servo dynamics is modeled as a fourth-order system with a delay time. The control system consists of a feedforward controller with a scheduled parameter and a feedback controller designed using μ-synthesis. The feedback controller assures the stability of the closed loop with respect to the delay time of the plant and parameter variations and also provides robust control performance. The control effectiveness is demonstrated through computer simulation and driving tests.