摘要
为了提高汽车离合器运动轨迹控制的准确性,提出了一种基于非线性前馈控制器的电液驱动离合器系统控制方法。通过研究驱动离合器工作的液压装置结构,分析了其组成部分及工作原理。通过泵的角速度及活塞位移,建立了液压装置的物理方程。采用阀孔的面积及阀芯周长、位移和叠合量等参数,计算了系统中控制边缘的湍流流量。利用调节阀、比例方向阀以及离合器的质量,求取了系统矩阵。在系统体积流矢量的基础上,构建了输入仿射系统,并通过仿射系统中的流量系数,构造了非线性补偿控制律。以调压阀、电磁阀和离合器的活塞目标位移为依据,建立了非线性前馈控制器,以实现对离合器运动轨迹的控制。实验结果表明:在跟踪方波与不规则目标轨迹时,本文方法比滑模控制器方法的控制准确性分别提高了42.48%和37.01%,表明本文所提非线性前馈控制器对电液驱动的离合器系统具有较好的控制效果,可控制离合器准确地按照目标轨迹运动。
In order to improve the accuracy of clutch trajectory control,a control method of electrohydraulic clutch system based on nonlinear feedforward controller is proposed.By studying the structure of the hydraulic device driving clutch,its components and working principle are analyzed.Based on the angular velocity and piston displacement of the pump,the physical equation of the hydraulic device is established.The turbulent flow at the control edge of the system is calculated by using the area of the valve hole,the perimeter of the valve core,displacement and overlap.Using the mass of control valve,proportional directional valve and clutch,the system matrix is obtained.Based on the volume flow vector of the system,the input affine system is constructed,and the nonlinear compensation control law is constructed by the flow coefficient in the affine system.Based on the nonlinear control of the clutch and the piston,a nonlinear controller is established.The experimental results show that the control accuracy of the proposed method is 42.48% and 37.01% higher than that of sliding mode controller in tracking square wave and irregular target trajectory,respectively.The results show that the nonlinear feedforward controller proposed in this paper has good control effect on the electro-hydraulic clutch system,and can control the clutch to move accurately according to the target trajectory.
作者
邝家凯
KUANG Jiakai(Intelligent Manufacturing Institute,Guangdong Technology College,Zhaoqing 526114,Guangdong,China)
出处
《中国工程机械学报》
北大核心
2022年第3期199-204,共6页
Chinese Journal of Construction Machinery
基金
广东省教育厅新工科教育与实践项目(2017-39)。
关键词
电液装置
离合器
非线性前馈控制器
运动轨迹
非线性补偿控制律
系统压力
electro hydraulic device
clutch
nonlinear feedforward controller
trajectory
nonlinear compensation control law
system pressure
