Title:
Improving wet clutch engagement with
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- Other systems
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- 1.06mb
- Update:
- 2017-07-07
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- Uploaded by:
- 张憧
Description: A common approach when applying reinforcement
learning to address control problems is that of first learning
a policy based on an approximated model of the plant, whose
behavior can be quickly and safely explored in simulation; and
then implementing the obtained policy to control the actual plant.
Here we follow this approach to learn to engage a transmission
clutch, with the aim of obtaining a rapid and smooth engagement,
with a small torque loss. Using an approximated model of a wet
clutch, which simulates a portion of the whole engagement, we
first learn an open loop control signal, which is then transferred
on the actual wet clutch, and improved by further learning with
a different reward function, based on the actual torque loss
observed.
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