基于微分几何的离合器接合过程速度跟踪滑模控制

摘要

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.%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。