Modélisation, Identification et commande d'un organe de friction Application au contrôle d'un système d'embrayage et au filtrage d'acyclismes par glissement piloté

摘要

In a thermal motor, cylinders explosions create an engine torque polluted with harmonic components called acyclic phenomena. At low velocities, the propagation of these elements across the vehicle kinematics chain (clutch, gearbox, transmission) can introduce vibro-acoustical nuisances. To restrict them, their filtering is considered using the clutch system, by managing the disks relative behaviour in slipping phases: it is controlled sliding. To be able to control the clutch system in such a way, it is important to describe a fine model of its behaviour, starting from friction phenomena properties. The main friction models, as well as parameters identification methods and their related experimental tries conditions, were so studied. A mechanical benchmark, allowing friction material characterization, was then built. Experimental measurements led to friction models fitted to the specific behaviour of the clutch disks used on vehicles. Finally, based on the obtained clutch model, a control structure is designed following an approach in several stages: determination of the general structure adapted to our problem, regulator tuning, robustness analysis of the closed loop system, and retuning. Performances offered by controlled sliding solution are finally validated in simulation and on vehicle.