基于鲁棒控制Lyapunov函数的CVT离合器起步非线性控制研究

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摘要新一代无级变速器(Continuously Variable Transmission , CVT)设计中，离合器传递的扭矩无法通过传感器直接获取.为满足其接合过程快速充油且避免扭矩冲击给金属带造成破坏等问题，提出一种离合器执行机构鲁棒性的模型预测控制算法.基于鲁棒控制Lyapunov函数(Rrobust Control Lyapunov Function, RCLF)，构造离合器充油和滑摩阶段的鲁棒控制器，利用RCLF预测模型替代传统比例控制方法，并以此补偿传统控制所存在的充油时间不足问题.建立CVT起步控制系统,将离合器油缸压力接合速度与冲击度作为衡量整车的起步标准，完成传统控制和RCLF控制下，不同油门开度的起步性能仿真及实车验证.试验结果表明：与传统离合器起步控制相比，基于RCLF控制技术的离合器油缸压力能在目标时刻完成充油过程，且整车起步冲击度降低，RCLF控制效果优于传统控制.

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关键词 ：汽车工程, 无级变速器, 起步离合器, 鲁棒控制Lyapunov函数

Abstract：In design of the new generation continuously variable transmission (CVT), torque transmitted by clutch can’t be directly acquired through sensors.Here, to shorten oil charging process and avoid metal belt damage caused by torque impact during clutch engagement, the model predictive control algorithm for robustness of clutch actuator was proposed.The robust controller for clutch oil charging and friction-sliding stages was constructed based on the robust control Lyapunov function (RCLF).The RCLF prediction model was adopted to replace the traditional proportional control method, and compensate the problem of insufficient oil charging time existing in the traditional control.A CVT start control system was established, and clutch cylinder pressure engagement speed and impact degree were taken as the evaluation indicators to measure the whole vehicle start performance.Finally, the vehicle start performance simulation and actual vehicle tests with different throttle opening levels were completed using traditional and RCLF control methods.Test results showed that compared with the traditional clutch starting control method, the clutch cylinder pressure based on RCLF can complete oil charging process at objective time instant, and the whole vehicle start impact degree is reduced, so the control effect of the proposed RCLF is superior to that of the traditional control.

Key words： automobile engineering Continuously Variable Transmission starting clutch Rrobust Control Lyapunov Function

收稿日期: 2018-01-24 出版日期: 2019-10-28

引用本文:

韩玲 1，刘鸿祥 1,赵聪聪 2，曹越，赵颖慧 3. 基于鲁棒控制Lyapunov函数的CVT离合器起步非线性控制研究[J]. 振动与冲击, 2019, 38(21): 210-215.
HAN Ling 1 LIU Hongxiang 1 ZHAO Congcong 2 CAO Yue1 ZHAO Huiying 3. Nonlinear control of CVT start clutch based on robust control Lyapunov function. JOURNAL OF VIBRATION AND SHOCK, 2019, 38(21): 210-215.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2019/V38/I21/210

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