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针对湿式双离合器车辆蠕动和起步过程存在的外部不确定扰动,提出了一种非线性无静差跟踪控制方法。首先建立双离合器车辆蠕动和起步过程的非线性动力学模型,并采用反馈线性化方法将非线性动力学模型转化为线性模型;分析了参考信号和扰动信号的结构特点,构建参考信号和扰动信号的不稳定模型,并在此基础上构建无静差跟踪控制系统;采用极点配置技术实现系统的状态反馈控制。通过非线性变换,将线性系统的控制信号转换为原非线性系统的控制信号从而实现非线性系统的无静差跟踪控制;最后通过仿真试验验证了控制算法的有效性。结果表明:提出的双离合器车辆蠕动和起步的控制方法,在不确定外部扰动信号作用下,能够快速实现无静差跟踪控制,且能将扰动引起的最大转速偏差控制在较小的范围之内。
Aiming at the external uncertain perturbation of the wet double clutch vehicle during creep and start-up, a non-static tracking control method with no static difference is proposed. Firstly, the nonlinear dynamic model of dual clutch vehicle during creep and start-up was established and the nonlinear model was transformed into a linear model by feedback linearization. The structural features of reference signal and disturbance signal were analyzed, and the reference signal and disturbance signal Based on this, a no-error tracking control system is constructed, and the state feedback control of the system is realized by the pole placement technology. Through the nonlinear transformation, the control signals of the linear system are transformed into the control signals of the original nonlinear system so as to realize the non-static tracking control of the nonlinear system. Finally, the simulation results show the effectiveness of the control algorithm. The results show that the proposed control method of dual-clutch vehicle creep and start control can quickly achieve no-error tracking control under the condition of uncertain external disturbance signal and can control the maximum speed deviation caused by disturbance within a relatively small range .