考虑膜片弹簧非线性的干式离合器位置闭环控制

Closed-loop Position Tracking Control for Dry Clutch Considering Nonlinear Stiffness of Membrane Spring

鉴于离合器膜片弹簧具有非线性刚度,且在部分行程中为负值,引起系统失稳,降低离合器位置控制精度,提出微分平坦前馈与增益自调整的反馈相结合的非线性控制方法。仿真和实验结果证实了膜片弹簧负刚度引起的失稳现象,与传统的未考虑膜片弹簧负刚度特性的控制方法相比,本文提出的非线性控制方法可克服失稳现象,且跟踪误差小。

In view of that the diaphragm spring for clutch has a nonlinear stiffness with a negative value in some travels,so may lead to system instability and the low control accuracy in clutch position,a nonlinear control scheme combining differential flatness feedforward and gain self-turning feedback is proposed.The results of simulation and experiment verify the instability phenomenon caused by the negative stiffness of diaphragm spring.Compared with the traditional control method without considering the negative stiffness characteristics of diaphragm spring,the nonlinear control scheme proposed can eliminate instability phenomenon with small tracking error.