Shifting Controller Design via Exact Feedback Linearization of a Spherical Continuously Variable Transmission

구체무단변속기의 비선형 피드백제어기 설계

The spherical CVT, intended to overcome some of the limitations of existing CVT designs, is marked by its simple kinematic design, improved efficiency of the shift actuator, and IVT characteristics, i.e., the ability of smooth transition between the forward, neutral, and reverse states without the need for any brakes or clutches. And it has been promised much possibility of energy savings and various applications for small power capacity machinery. Due to the nonlinearity of the spherical CVT shifting dynamics, however the original open-loop system is inherently unstable. Hence a feedback controller is necessary to make the system stable and to achieve effective tracking performance. To do this, we designed a feedback controller that cancels nonlinearities and transforms the original nonlinear system dynamics into a stable and controllable linear one, based on the input-state linearization method.