非平稳随机循环工况下离合器接合过程的鲁棒控制

李晓祥; 王安麟; 李晓田

doi:10.7652/xjtuxb202007007

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非平稳随机循环工况下离合器接合过程的鲁棒控制

更新时间：2025-07-09

- 非平稳随机循环工况下离合器接合过程的鲁棒控制
- Robust Control of Clutch Engagement Process under Non-Stationary Random Cyclic Conditions
- 西安交通大学学报 2020年54卷第7期页码：52-61
- 作者机构：
  
  同济大学机械与能源工程学院,上海,201804
- 作者简介：
- 基金信息：
  
  : 2019-12-16。作者简介: 李晓祥(1984—),男,博士生;李晓田(通信作者),男,讲师。基金项目: 国家重点研发计划资助项目(2018YFC0810203)
- DOI：10.7652/xjtuxb202007007
  中图分类号： TH623.9
- 网络首发：2020-07-10，
  
  纸质出版：2020
- 稿件说明：
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李晓祥, 王安麟, 李晓田. 非平稳随机循环工况下离合器接合过程的鲁棒控制[J]. 西安交通大学学报, 2020,54(7):52-61.

Robust Control of Clutch Engagement Process under Non-Stationary Random Cyclic Conditions[J]. 2020, 54(7): 52-61.
李晓祥, 王安麟, 李晓田. 非平稳随机循环工况下离合器接合过程的鲁棒控制[J]. 西安交通大学学报, 2020,54(7):52-61. DOI： 10.7652/xjtuxb202007007.

Robust Control of Clutch Engagement Process under Non-Stationary Random Cyclic Conditions[J]. 2020, 54(7): 52-61. DOI： 10.7652/xjtuxb202007007.

摘要

针对离合器接合过程存在的非线性、外界干扰和参数不确定等因素带来的接合品质问题

提出了一种离合器接合过程的鲁棒控制方法。首先

以某5 t装载机V型工况重载后退换挡离合器接合过程为研究对象

在构建以冲击度和滑磨功为性能评价指标的多目标泛函基础上

依据Pontryagin极值原理和终端约束

求解干扰矩阵中包含参数化非平稳随机项的泛函极值

获得了其时变最优控制律和权值组合下的扭矩最优轨迹。其次

通过变量转换

将时变扭矩最优轨迹转化为非线性离合器液压执行机构参数摄动下的压力跟踪轨迹。最后

采用自适应滑模控制策略以提高系统的跟踪精度和鲁棒性能

并利用Lyapunov理论对其闭环系统的稳定性进行了分析。数值仿真结果表明:该方法能有效地降低冲击度和减少滑磨功

实现了在0.7%误差范围内的最优控制轨迹跟踪。所提出的非平稳随机循环工况下离合器接合过程时变扭矩轨迹优化及其跟踪鲁棒控制的方法

对解决同类问题具有一定的工程借鉴价值。

Abstract

A robust control method for clutch engagement process is proposed for the engagement quality problem caused by the nonlinearity

external disturbance and parameter uncertainty in the clutch engagement process. Firstly

taking the clutch engagement process in the heavy-duty reverse shifting of a 5-ton loader in V-type working condition as the research object

a multi-objective functional with performance evaluation based on jerk and friction work is established. According to the Pontryagin-s maximum principle and terminal constraints

after solving the functional extremum of the parameteri-ed non-stationary random terms in the disturbance matrix

the optimal trajectory of the torque under the time-varying optimal control law and weight combination is obtained. Secondly

through the variable transformation

the time-varying torque optimal trajectory is transformed into the pressure tracking trajectory of the nonlinear clutch hydraulic actuator with parameter perturbation. Finally

the a

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references

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