Please wait a minute...
浙江大学学报(工学版)
浙江大学学报(工学版)
机械工程     
电控气动离合器执行器滑模轨迹跟踪控制
钱鹏飞1, 陶国良1, 孟德远1, 钟伟2, 班伟1, 朱晓1
1. 浙江大学 流体动力与机电系统国家重点实验室, 浙江 杭州 310027; 2. 江苏科技大学 机械工程学院, 江苏 镇江 212003
Sliding mode trajectory tracking control of electro-pneumatic clutch actuator
QIAN Peng-fei1, TAO Guo-liang1, MENG De-yuan1, ZHONG Wei 2, BAN Wei1, ZHU Xiao1
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; 2. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China
 全文: PDF(1808 KB)  
摘要：

摘要: 为了实现电控机械式自动变速器的电控气动控制,建立由1个位移传感器、2个压力传感器及4个开关电磁阀组成的离合器气动执行系统.采用滑模控制算法使系统对干扰和不确定性具有很强鲁棒性,同时为了减小颤振改善控制率,控制算法中引入死区.通过开关阀直接实施滑模控制率而不通过脉宽调制,可以降低噪声和能耗、延长阀的使用寿命、增强系统硬件的可靠性.离合器气动执行系统分别对正弦信号、光滑方波信号、离合器参考信号进行跟踪试验,结果表明: 该算法具有良好的轨迹跟踪精度及相对低的稳态跟踪误差,验证了算法的有效性和可行性.
关键词： 机械式自动变速器;  电控气动;  滑模控制;  离合器;  开关阀    
Abstract:

In order to realize electro-pneumatic control for automated manual transmission, an electro-pneumatic clutch actuator system consists of a position sensor, two pressure sensors, and four two-way solenoid valves was established. A sliding mode control algorithm which is well known for its robustness to external disturbance and system uncertainties was adopted. Meanwhile, in order to reduce control chatter to improve the control law, a dead zone was defined. By implementing a sliding mode control law directly without using pulse-width modulation, this approach adopted has a mode of energy conservation which reduces noise, prolongs the on/off valve’s life and increases the reliability of the hardware system. The tracking experiments of sinusoidal signal, smooth square trajectory and clutch reference signal were conducted respectively. The good tracking and relatively low steady-state errors show that the used control algorithm is effective and feasible.
Key words: clutch    on/off valve    electro-pneumatic    automated manual transmission    sliding mode control
出版日期: 2014-07-04
:  TH 138.51  
基金资助:

国家自然科学基金资助项目（50775200, 51205174）.
通讯作者: 陶国良, 男, 教授, 博导.     E-mail: gltao@zju.edu.cn
作者简介: 钱鹏飞(1987—), 男, 博士生, 主要从事气动伺服及机电控制技术研究. E-mail: pengfeiqian@zju.edu.cn
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　
陶国良
钟伟
钱鹏飞
孟德远
班伟
朱晓

引用本文:

钱鹏飞, 陶国良, 孟德远, 钟伟, 班伟, 朱晓. 电控气动离合器执行器滑模轨迹跟踪控制[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2014.06.019.

QIAN Peng-fei, TAO Guo-liang, MENG De-yuan, ZHONG Wei,BAN Wei, ZHU Xiao. Sliding mode trajectory tracking control of electro-pneumatic clutch actuator. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2014.06.019.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2014.06.019    或    http://www.zjujournals.com/xueshu/eng/CN/Y2014/V48/I6/1102

［1］ GRANCHAROVA A, JOHANSEN T A. Design and comparison of explicit model predictive controllers for an electropneumatic clutch actuator using on/off valves ［J］. IEEE/ASME Transactions on Mechatronics, 2011, 16(4): 665-673.
［2］ KAASA G, TAKAHASHI M. Adaptive tracking control of an electro-pneumatic clutch actuator ［J］. Modeling, Identification and Control, 2003, 24(4): 217-229.
［3］ LANGJORD H, KASSA G, JOHANSEN T A. Adaptive nonlinear observer for electropneumatic clutch actuator with position sensor ［J］. IEEE Transactions on Control System Technology, 2012, 20(4): 1033-1040.
［4］ LANGJORD H, JOHANSEN T A. Dual-mode switched control of an electropneumatic clutch actuator ［J］. IEEE/ASME Transactions on Mechatronics, 2010, 15(6): 969-981.
［5］ SANDE H, JOHANSEN T A, KASSA G, et al. Switched backstepping control of an electropneumatic clutch actuator using on/off valves ［C］∥ Proceedings of the 2007 American Conference. New York: \[s.n.\], 2007: 76-81.
［6］ 李洪斌,张承瑞,郭新民.重型汽车电控气动离合器操纵系统［J］.农业机械学报,2007, 38(2): 15.
LI Hong-bin, ZHANG Cheng-rui, GUO Xin-min. Research on the electrical control pneumatic clutch manipulating system of the heavy truck ［J］. Transaction of the Chinese Society for Agricultural Machinery, 2007, 38(2): 15.
［7］ NGUYEN T, LEAVITT J, JABBARI F, et al. Accurate sliding-mode control of pneumatic systems using low-cost solenoid valves ［J］. IEEE/ASME Transactions on Mechatronics, 2007, 12(2): 216-219.
［8］ QIAN Peng-fei, TAO Guo-liang, CHEN Jian-feng, et al. Modeling and simulation of stick-slip motion for pneumatic cylinder based on meter-in circuit ［J］. Applied Mechanics and Materials, 2012, 130-134: 775-780.
［9］ 钱鹏飞,陶国良,刘昊,等.基于进口节流调速气缸爬行特性［J］.浙江大学学报：工学版,2012, 46(7): 1189-1194.
QIAN Peng-fei, TAO Guo-liang, LIU Hao, et al. Stick-slip characteristics of pneumatic cylinder based on meter-in circuit ［J］. Journal of Zhejiang University: Engineering Science, 2012, 46(7): 1189-1194.
[1] 钟麒, 张斌, 洪昊岑, 杨华勇. 基于电流反馈的高速开关阀3电压激励控制策略[J]. 浙江大学学报(工学版), 2018, 52(1): 8-15.
[2] 李国飞, 滕青芳, 王传鲁, 张雅琴. 应用滑模控制的四开关逆变器PMSM系统FCS-MPC策略[J]. 浙江大学学报(工学版), 2017, 51(3): 620-627.
[3] 郭凡, 魏建华, 张强, 熊义. 基于级联控制器的液压机位移/压力复合控制[J]. 浙江大学学报(工学版), 2017, 51(10): 1937-1947.
[4] 潘宁, 于良耀, 张雷, 宋健, 张永辉. 电液复合制动系统防抱控制的舒适性[J]. 浙江大学学报(工学版), 2017, 51(1): 9-16.
[5] 胡小东, 顾临怡, 张范蒙. 应用于数字变量马达的高速开关阀[J]. 浙江大学学报(工学版), 2016, 50(8): 1551-1560.
[6] 周锋, 顾临怡, 罗高生, 陈宗恒. 电液比例式推进系统的自适应反演滑模控制[J]. 浙江大学学报(工学版), 2016, 50(6): 1111-1118.
[7] 廖湘平,龚国芳,彭雄斌,吴伟强. 基于黏性耦合机理的TBM刀盘脱困特性[J]. 浙江大学学报(工学版), 2016, 50(5): 902-912.
[8] 王飞, 管成, 肖扬, 李威. 挖掘机动臂势能回收系统的压力滑模控制[J]. 浙江大学学报(工学版), 2016, 50(2): 201-208.
[9] 王尧尧, 顾临怡, 高 明, 贾现军, 朱康武. 水下运载器非奇异快速终端滑模控制[J]. 浙江大学学报(工学版), 2014, 48(9): 1541-1551.
[10] 方强, 周庆慧, 费少华, 孟祥磊, 巴晓甫, 张燕妮, 柯映林. 末端执行器压脚气动伺服控制系统设计[J]. 浙江大学学报(工学版), 2014, 48(8): 1442-1450.
[11] 赵伟,黄钰曌,俞浙青,阮健. 高速弹射实验装置液压动力系统[J]. 浙江大学学报(工学版), 2014, 48(5): 799-804.
[12] 全宇, 年珩. 非理想电网下双馈感应发电机谐振滑模控制[J]. J4, 2014, 48(4): 575-580.
[13] 孟德远,陶国良,钱鹏飞,班伟. 气动力伺服系统的自适应鲁棒控制[J]. J4, 2013, 47(9): 1611-1619.
[14] 崔红伟,潘鑫,姚寿文,闫清东. 液黏调速离合器油槽结构参数优化设计[J]. J4, 2013, 47(7): 1293-1298.
[15] 刘琼,陶国良,钟伟,班伟. 内外爆气动开关阀[J]. J4, 2013, 47(5): 790-795.