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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
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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.


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.

出版日期: 2015-04-01
:  TH 138.51  

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:
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:
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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.


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