基于微分几何的离合器接合过程速度跟踪滑模控制

Sliding Mode Control for Speed Tracking Based on Differential Geometry during Clutch Engaging Process

针对离合器控制系统中存在的非线性、外部干扰和参数不确定问题,提出了基于微分几何的离合器接合过程速度跟踪滑模控制方法。考虑系统参数的不确定性和外界干扰等不确定因素,建立了单个离合器起步动力学模型;基于微分几何的反馈线性化方法,得出系统的控制律;采用基于趋近律的滑模控制方法,设计了存在不确定干扰的离合器控制系统滑模控制器。利用Lyapunov理论对系统的稳定性进行了证明。仿真结果表明该控制器使离合器接合过程的速度跟踪精度高,且鲁棒性好。

Aimed at nonlinearity,external disturbances and parameter uncertainty of the clutch control system,a sliding mode control was put forward based on differential geometry for speed tracking during clutch engaging process.Considering the uncertainty of system parameters and external disturbances and other uncertain factors,a single clutch dynamic system model was established,feedback linearization was used based on differential geometry method,the control law was obtained,and then a sliding mode controller was designed based on reaching law control method for the clutch control system with disturbance.The stability of the system was proved by using Lyapunov theory.The simulation results show that the controller can make the process of clutch engagement speed tracking accuracy and robustness.