基于SDRE的离合器接合非线性最优跟踪控制  

Nonlinear Optimal Control of Clutch Engagement Based on State Dependent Riccati Equation

作　　者：金涛涛[1] 李平康[1] 贾智州[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《内蒙古大学学报（自然科学版）》2014年第1期68-73,共6页Journal of Inner Mongolia University：Natural Science Edition

基　　金：国家自然科学基金资助项目(61074104);北京交通大学优秀博士生创新基金项目(141083522)

摘　　要：AMT车辆换挡过程是一个机电液相互配合的过程,离合器系统具有严重的非线性特性,采用常规PID控制方法很难达到满意的效果.研究了一种基于SDRE(State Dependent Riccati Equation)的非线性最优设计方法,通过伪线性化处理得到了系统的非线性状态空间模型,使用改进的基于Newton梯度的方法实现了状态相关Riccati方程的迭代求解,大大减少了计算量,为实时应用打下了基础.所设计的控制器被用于离合器接合过程的最优跟踪控制,仿真结果验证了所提方法的有效性,可实现换挡过程中离合器接合过程的精确控制.AMT gear shifting is a mixed process involved the mechanical, electrical and hydraulic systems. The nonlinear characteristic of the systems determine that it is hard to get satisfied results by using the conventional PID control method. A State Dependent Riccati Equation （SDRE） based controller design approach is researched,and a state space mode is achieved by pseudo linearization of the nonlinear system differential functions. To realize the real time application of the proposed al- gorithm,an online iterative solving of the algebra Riccati function based on Newton gradient method is derived. Compared with the conventional methods, the proposed method reduces the computation load dramatically and is much more feasible for the real time application. To demonstrate the validi-ty of the method,the redesigned controller is applied to the clutch engagement process. Numerical simulation results show that the proposed algorithm can realize a much more precise tracking of the given curve,

关 键 词：离合器接合控制 非线性最优跟踪控制 状态相关Riccati方程 Riccati方程求解 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]