自动离合器位置跟踪神经元自适应PID控制

Neuron adaptive PID control for position tracking control of automatic clutch

针对自动离合器位置难以准确快速跟踪控制的问题,在采用蜗卷弹簧作为补偿装置改善驱动机构性能基础上,设计了一种具有前馈作用的增益可调神经元自适应PID控制器,利用前馈控制加快控制器的响应速度,利用神经元的自学习功能实现权值的自动调整,采用PSD算法实现增益的自动调整。实验结果表明,与常规控制器相比,该控制器用于离合器位置跟踪控制动、静态误差小,能够适应离合器负荷和目标接合速度的非线性变化,具有较好的鲁棒性,能够满足离合器位置跟踪控制要求。

Accurate and quick position tracking of automatic clutch is difficult on account of its nonlinear character. A new clutch actuating mechanism with a whirl spring was devised for torque compensation to reduce the load of DC actuator and improve the dynamic performance of system firstly, then a neuron a- daptive PID controller with feedforward and adjustable gain was designed. The feedforward control was a- ble to accelerate the response of controller, and the weight of neuron was adaptively adjusted by ＂self- study function, and PSD algorithm was proposed to adjust its gain. The experiment results show that with the controller the position tracking error is smaller than common controller; and the controller can adapt to the nonlinear change of clutch load and target engaging speed, so it has good robustness and can meet the demand of position tracking control.