An investigation is made to the friction chutch engagement control of automotive AMT systems based on a nonlinear dynamic model with double inputs. According to friction torque transmission characteristics during clut...An investigation is made to the friction chutch engagement control of automotive AMT systems based on a nonlinear dynamic model with double inputs. According to friction torque transmission characteristics during clutch engagement, an equivalent, fully controllable and linearized model and the feedback linearization control are derived from the original system with nonlinearities via homomorphic transforms. By the resulting mathematical modeling, computer simulations are made both for the original nonlinear and feedback linearized systems with incorporation of ordinary PID controllers to follow ideal vehicle dynamic responses. It has been shown by comparison between the two sets of numerical results that the feedback linearization control designed for the nonlinear system is of fine accuracy and robustness in model tracking behaviors of clutch engagements.展开更多
In this paper,a novel formation control strategy is proposed to address the target tracking and circumnavigating problem of multi-UAV formation.First,two sets of definitions,space angle definition and space vector def...In this paper,a novel formation control strategy is proposed to address the target tracking and circumnavigating problem of multi-UAV formation.First,two sets of definitions,space angle definition and space vector definition,are presented in order to describe the flight state and construct the desired relative velocity.Then,the relative kinematic model between the UAV and the moving target is established.The distributed control law is constructed by using dynamic feedback linearization so as to realize the tracking and circumnavigating control with the desired velocity,circing radius and relative angular spacing.Next,the exponential stability of the closed-loop system is further guaranteed by properly choosing some corresponding parameters based on the Lyapunov method.Finally,the numerical simulation is caried out to verify the effectiveness of the proposed control method.展开更多
文摘An investigation is made to the friction chutch engagement control of automotive AMT systems based on a nonlinear dynamic model with double inputs. According to friction torque transmission characteristics during clutch engagement, an equivalent, fully controllable and linearized model and the feedback linearization control are derived from the original system with nonlinearities via homomorphic transforms. By the resulting mathematical modeling, computer simulations are made both for the original nonlinear and feedback linearized systems with incorporation of ordinary PID controllers to follow ideal vehicle dynamic responses. It has been shown by comparison between the two sets of numerical results that the feedback linearization control designed for the nonlinear system is of fine accuracy and robustness in model tracking behaviors of clutch engagements.
基金supported in part by the National Natural Science Foundation of China(61703081,62173082)the Liaoning Joint Fund of National Natural Science Foundation of China(U1908217)+2 种基金the Liaoning Revitalization Talents Program(XLYC1801005)Natural Science Foundation of Liaoning Province(20170520113)and the Fundamental Research Funds for the Central Universities(N2004016).
文摘In this paper,a novel formation control strategy is proposed to address the target tracking and circumnavigating problem of multi-UAV formation.First,two sets of definitions,space angle definition and space vector definition,are presented in order to describe the flight state and construct the desired relative velocity.Then,the relative kinematic model between the UAV and the moving target is established.The distributed control law is constructed by using dynamic feedback linearization so as to realize the tracking and circumnavigating control with the desired velocity,circing radius and relative angular spacing.Next,the exponential stability of the closed-loop system is further guaranteed by properly choosing some corresponding parameters based on the Lyapunov method.Finally,the numerical simulation is caried out to verify the effectiveness of the proposed control method.
