针对自动离合器位置跟踪这一伺服控制问题,提出了一种新颖的控制方法.该方法将离合器的接合规律视为一种约束,为满足约束要求对系统施加一定的伺服约束力,在不引入格朗日乘子等参数的情况下,利用Udwadia-Kalaba方程对约束力进行求解.通过建立离合器接合过程的动力学模型,提出了离合器位置跟踪的电流位置双闭环控制系统.对比试验结果表明,采用基于Udwadia-Kalaba理论的离合器位置跟踪控制,离合器接合轨迹能较好地跟踪了目标要求曲线,具有较高的跟踪控制精度.%Aiming at the servo control problem of the position tracking of automatic clutch,a novel control method is proposed. With the method,the engaging rule of clutch is regarded as a constraint, a certain servo con-straint force is applied on the system for meeting constraint requirements, and in the case without introducing La-grange multiplier and other parameters,Udwadia-Kalaba equation is used to solve constraint force. By setting up a kinetic model of clutch engagement process, current-position double closed-loop control system for clutch position tracking is put forward. The results of contrast test show that with the clutch position tracking control based on Udwa-dia-Kalaba theory,the clutch engagement trajectory can better track target curve with higher tracking control accuracy.
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