中文摘要：

当离合器摩擦片的摩擦系数、车身质量及道路坡度等参数发生较大变化时,会使线性二次型优化控制算法改善AMT车辆起步平顺性的效果下降。设计了一种考虑模型误差估计的优化控制算法,即通过一个降维误差观测器对时变的参数和模型的不确定性进行估计,并由估计的模型误差和车辆状态共同构成控制算法的线性反馈。通过实车试验对该算法进行验证,结果表明在车辆参数变化时该算法可以保证AMT车辆平顺起步。

英文摘要：

When parameters like clutch friction coefficient, vehicle mass and road slope vary greatly, the linear- quadratic based optimal control algorithm can improve the smooth launch control performance of AMT. An optimal launch control algorithm considering modeling error estimation is designed, which uses a reduced-order observer to estimate the time-varying parameters and uncertainty of model, and constitute a linear feedback of the control algorithm with the estimated model errors and vehicle state. The proposed control algorithm is verified in real vehicle test which proves that the proposed control algorithm can ensure the vehicle to launch smoothly when vehicle parameters change.