中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2015年
17期
2302-2307,2335
,共7页
微分几何%离合器%速度跟踪%滑模控制
微分幾何%離閤器%速度跟蹤%滑模控製
미분궤하%리합기%속도근종%활모공제
differential geometry%clutch%speed tracking%sliding mode control
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。
針對離閤器控製繫統中存在的非線性、外部榦擾和參數不確定問題,提齣瞭基于微分幾何的離閤器接閤過程速度跟蹤滑模控製方法。攷慮繫統參數的不確定性和外界榦擾等不確定因素,建立瞭單箇離閤器起步動力學模型;基于微分幾何的反饋線性化方法,得齣繫統的控製律;採用基于趨近律的滑模控製方法,設計瞭存在不確定榦擾的離閤器控製繫統滑模控製器。利用 Lyapunov 理論對繫統的穩定性進行瞭證明。倣真結果錶明該控製器使離閤器接閤過程的速度跟蹤精度高,且魯棒性好。
침대리합기공제계통중존재적비선성、외부간우화삼수불학정문제,제출료기우미분궤하적리합기접합과정속도근종활모공제방법。고필계통삼수적불학정성화외계간우등불학정인소,건립료단개리합기기보동역학모형;기우미분궤하적반궤선성화방법,득출계통적공제률;채용기우추근률적활모공제방법,설계료존재불학정간우적리합기공제계통활모공제기。이용 Lyapunov 이론대계통적은정성진행료증명。방진결과표명해공제기사리합기접합과정적속도근종정도고,차로봉성호。
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 track-ing during clutch engaging process.Considering the uncertainty of system parameters and external dis-turbances 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 sys-tem with disturbance.The stability of the system was proved by using Lyapunov theory.The simula-tion results show that the controller can make the process of clutch engagement speed tracking accura-cy and robustness.