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Related Experiment Video

Updated: Jul 30, 2025

Measurement of the Hand Transmitted Vibration of the Human Hand Arm System During Operation of a Hand Tractor

Measurement of the Hand Transmitted Vibration of the Human Hand Arm System During Operation of a Hand Tractor

Published on: June 16, 2021

Research on clutch position control based on backstepping method for small-sized tractors.

Jie Gao¹, Chengqiang Yin¹, Chao Jiang²

¹School of Machinery and Automation, Weifang University, Weifang, China.

Science Progress

|May 18, 2023

Summary

Automated manual transmissions in tractors improve driver comfort and shift quality. This study presents an enhanced clutch control strategy using a backstepping method for precise and rapid clutch position tracking.

Keywords:

Clutch actuator backstepping method position tracking tractor

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Last Updated: Jul 30, 2025

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Area of Science:

Agricultural Engineering
Control Systems Engineering
Robotics

Background:

Automated manual transmissions (AMT) in tractors enhance driver comfort by reducing physical effort and improve gear shifting.
Precise and rapid control of the automatic clutch is essential for optimal AMT performance.

Purpose of the Study:

To develop and validate an enhanced control strategy for automatic clutch control in tractors.
To achieve precise and fast tracking of the clutch position.

Main Methods:

Detailed modeling of the DC motor and mechanical actuator for the clutch system.
Development of a controllable clutch model.
Design of a clutch position tracking control scheme using the backstepping method, including a motor control circuit and motor angle tracking controller.

Main Results:

Simulations demonstrated the effectiveness of the proposed control scheme.
The enhanced strategy showed superior rapidity and accuracy in clutch position tracking compared to the internal model control method.

Conclusions:

The presented backstepping-based control scheme effectively achieves precise and rapid clutch position tracking for tractor automated manual transmissions.
This enhanced strategy contributes to improved AMT performance and driver experience.