基于反馈线性化的汽车AMT离合器滑模控制

电控离合器系统中，因为外界环境相当复杂，控制系统存在多种非线性，使得数学模型中参数是摄动的并且同时受到干扰，给机械式自动变速系统（AMT）的控制带来困难，针对离合器液压扫行机构，建立系统非线性动力学模型，进一步应用基于微分几何的反馈线性化方法，将原非线性系统等价为完全可控型线性化模型，然后设计滑模控制器，实车实验结果表明，设计的非线性控制器跟踪精度高，鲁棒性好。

Sliding Mode Control for Electrically Controlled Clutch of AMT Based on Feedback Linearization

In this paper, a Sliding mode control approach based on feedback linearization is proposed for the electrically controlled clutch of AMT vehicles,and the nonlinear dynamic model for the hydraulic actuator of the clutch is established.Then,by means of the feedback linearization procedure of differential geometry, an equivalent and fully controllable linear model is derived and a sliding mode controller is designed.The proving ground test results show that this nonlinear controller is robust with high tracking accuracy.