基于微分几何的离合器接合过程速度跟踪滑模控制

针对离合器控制系统中存在的非线性、外部干扰和参数不确定问题,提出了基于微分几何的离合器接合过程速度跟踪滑模控制方法。考虑系统参数的不确定性和外界干扰等不确定因素，建立了单个离合器起步动力学模型;基于微分几何的反馈线性化方法,得出系统的控制律;采用基于趋近律的滑模控制方法,设计了存在不确定干扰的离合器控制系统滑模控制器。利用Lyapunov理论对系统的稳定性进行了证明。仿真结果表明该控制器使离合器接合过程的速度跟踪精度高，且鲁棒性好。

Sliding Mode Control for Speed Tracking Based on Differential Geometry during Clutch Engaging Process

Aimed  at  nonlinearity,external disturbances and  parameter uncertainty of the  clutch  control system,a  sliding mode control   was  put forward   based  on  differential geometry for speed tracking during clutch engaging process.Considering the  uncertainty of  system  parameters  and  external  disturbances and  other uncertain factors, a single clutch dynamic system model was  established,feedback linearization  was used based  on  differential  geometry  method,the control law  was obtained,and  then a sliding mode controller  was  designed  based on  reaching law control method for the clutch control system with disturbance.The stability of  the system was proved by using  Lyapunov theory.The simulation results  show  that the controller can  make the process of clutch engagement speed tracking accuracy and robustness.