基于非线性模型的电气离合器执行系统位置伺服控制  

Nonlinear Model-based Position Servo Control of Electro-pneumatic Clutch Actuator

作　　者：钱鹏飞[1] 陶国良[1] 孟德远[1] 朱晓[1] 刘昊[1] 李庆伟[1] 

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,杭州310027

出　　处：《农业机械学报》2014年第3期1-6,12,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目（50775200、50905156、51205174）

摘　　要：为了实现电气离合器执行系统的位置伺服控制，构建了离合器气动执行系统。通过运用引入死区的滑模控制算法于系统，采用不基于模型的控制实现离合器气动执行系统对参考运动轨迹的跟踪，利用轨迹跟踪过程中气缸的气压驱动力间接估计离合器的载荷特性。理论上采用此方法间接估计到的值误差小，更加贴近离合器在此种轨迹运动下实际的载荷特性。试验表明引入估计得到的离合器载荷特性模型于基于模型的积分滑模控制器可以很大程度提高离合器气动执行系统轨迹跟踪精度。In order to realize the servo control of electro-pneumatic clutch actuator in an automated mechanical transmission, an electro-pneumatic clutch actuator system was established. By performing a simple sliding mode control law of dead zone directly on the established system, the tracking control of the electro-pneumatic clutch actuator without unnecessary control chattering was achieved. Meanwhile, the load characteristics of clutch could be estimated indirectly by the pneumatic driving force during trajectory tracking. In theory, the estimation error of load characteristics obtained by this approach is small. So, the clutch load characteristic is closer to the actual value in the trajectory-tracking control. Tests show that the proposed model-based integral sliding-mode controller with the estimation of clutch load characteristic introduced can improve the tracking accuracy to a large extent.

关 键 词：机械式自动变速器 离合器 载荷特性 电控气动 积分滑模控制 位置伺服控制 

分 类 号：TH138.52[机械工程—机械制造及自动化]