车辆AMT离合器离散变结构控制

以车圆舞曲机械式自动变速系统（AMT）的离合器液压执行机构为研究对象，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。在此基础上设计了离散变结构控制器，并且证明了离散变结构系统的稳定性，实验结果证明，这一控制器跟踪精度高，并且对系统的非线性和不确定性表现出很强的鲁棒性。

Discrete Variable Structure Control of an Automobile AMT Clutch

A variable structure control approach based on the feedback linerization was proposed for an electronically controllable clutch of AMT vehicles and a nonlinear dynamic model for the hydraulic actuator associated with clutch was established. By means of the exact feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model was derived via a homomorphic transformation for the AMT clutch system. Furthermore, a discrete variable structure controller was developed and the system stability was proved. The experimental results demonstrate that this nonlinear controller is of fine robustness and a high degree of tracking accuracy.