Compound Sliding Mode Motion Trajectory Tracking Control of an Electro-Pneumatic Clutch Actuator While Maximizing Its Stiffness
Compound Sliding Mode Motion Trajectory Tracking Control of an Electro-Pneumatic Clutch Actuator While Maximizing Its Stiffness
复制标题
电动气动离合器执行器的复合滑模运动轨迹跟踪控制，同时最大化其刚度
DOI：
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发表时间：
2016
影响因子：
0.2
通讯作者：
Lian-Ren Zhang
中科院分区：
文献类型：
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作者：
Peng-Fei Qian;Xu-Dong Ren;Guo-Liang Tao;Lian-Ren Zhang
为了提高自动手动变速器（AMT）的换挡质量，研究了电动气动离合器执行器的运动轨迹跟踪控制问题。离合器执行器由四个双向开/关电磁阀使用脉宽调制（PWM）控制。从而可以同时实现对作动气缸的运动和刚度控制。在气缸运动轨迹跟踪控制中，引入最大刚度控制，可以很好地抵抗力对运动的干扰。提出了一种由基于模型和非基于模型两种不同类型的控制器组合而成的复合滑模控制器，用于跟踪代表离合器整个操作过程的参考轨迹。在此基础上，设计了卡尔曼滤波器来估计驱动缸的速度和加速度。实验结果表明，该控制器能很好地实现电-气离合器执行器的运动轨迹跟踪控制。
In order to improve gear-shifting quality, motion trajectory tracking control of an electro-pneumatic clutch actuator for automated manual transmission (AMT) is considered. The clutch actuator is controlled by four two-way on/off solenoid valves using pulse width modulation (PWM). Thus, the motion and stiffness control of the actuating pneumatic cylinder can be realized simultaneously. In motion trajectory tracking control of pneumatic cylinder, stiffness-maximizing control is introduced to resist disturbance from force to motion well. A compound sliding mode controller combined by two different types of controllers which are model-based and non model-based controller respectively is presented for tracking a reference trajectory representing the whole operation process of clutch. Moreover, a Kalman filter is designed to estimate the velocity and acceleration of the actuating.cylinder. Experimental results show the proposed controller can fulfill excellently the motion trajectory tracking control of an electro-pneumatic clutch actuator.