本文選題：自動(dòng)機(jī)械變速器　切入點(diǎn)：雙模態(tài)控制策略　出處：《華南理工大學(xué)》2016年博士論文　論文類(lèi)型：學(xué)位論文

【摘要】：自動(dòng)機(jī)械變速器(Automatic Mechanical Transmission,AMT)以其在燃油經(jīng)濟(jì)性、扭矩容量、技術(shù)可實(shí)現(xiàn)性、制造成本等方面的突出表現(xiàn),在商用車(chē)領(lǐng)域得到了成功應(yīng)用。然而,其在起步能力、換擋品質(zhì)等性能指標(biāo)方面表現(xiàn)較差,尤其是起步階段離合器接合時(shí)存在不容忽視的同步?jīng)_擊而產(chǎn)生的瞬時(shí)頓挫現(xiàn)象,嚴(yán)重影響駕乘人員乘坐舒適性,使商用車(chē)起步平順性廣受詬病,也制約其在乘用車(chē)領(lǐng)域的推廣應(yīng)用。目前AMT車(chē)輛常用起步控制策略研究主要集中于提升離合器連續(xù)滑摩接合階段的沖擊度與滑摩功等性能指標(biāo),忽視了離合器同步瞬間引起的同步?jīng)_擊,無(wú)法解決由此引起的瞬時(shí)頓挫而導(dǎo)致的車(chē)輛起步平順性差的問(wèn)題,制約了AMT車(chē)輛起步性能的提升。鑒于此,本文提出無(wú)同步?jīng)_擊的AMT車(chē)輛雙模態(tài)自適應(yīng)起步控制策略及其分?jǐn)?shù)階控制方法,并對(duì)其原理及實(shí)現(xiàn)方法開(kāi)展深入研究。主要內(nèi)容如下:開(kāi)展基于分離軸承位置和動(dòng)態(tài)摩擦系數(shù)的離合器動(dòng)態(tài)轉(zhuǎn)矩傳遞機(jī)理及建模研究,為定量確定起步過(guò)程離合器接合規(guī)律提供理論依據(jù)。首先,分析離合器膜片彈簧及波形彈簧片的變形特性,研究離合器接合過(guò)程中的壓力傳輸關(guān)系,建立基于分離軸承位置的離合器摩擦面壓緊力模型;其次,基于摩擦學(xué)相關(guān)理論,分析離合器滑摩面正壓力、滑摩轉(zhuǎn)速、表面溫度等因素對(duì)離合器摩擦系數(shù)的影響規(guī)律,依據(jù)實(shí)驗(yàn)數(shù)據(jù),基于極限學(xué)習(xí)機(jī)(Extreme Learning Machine,ELM)算法,建立了包含45個(gè)隱含層神經(jīng)元,具有高精度、高實(shí)時(shí)性特點(diǎn)的離合器動(dòng)態(tài)摩擦系數(shù)神經(jīng)網(wǎng)絡(luò)預(yù)測(cè)模型,并針對(duì)實(shí)時(shí)預(yù)測(cè)動(dòng)態(tài)摩擦系數(shù)所需的離合器表面溫度難以直接測(cè)量的問(wèn)題,基于熱慣性效應(yīng)原理以及滑摩功與溫升之間的關(guān)系,建立了基于滑摩功的離合器表面溫度迭代預(yù)測(cè)模型。提出了無(wú)同步?jīng)_擊的AMT車(chē)輛雙模態(tài)自適應(yīng)起步控制策略。該策略以滑摩角速度為同步?jīng)_擊控制模態(tài)決策參量,先后實(shí)施無(wú)同步?jīng)_擊為約束的起步綜合性能最優(yōu)控制和無(wú)同步?jīng)_擊為優(yōu)化目標(biāo)的滾動(dòng)預(yù)測(cè)控制,確定起步過(guò)程離合器動(dòng)態(tài)目標(biāo)轉(zhuǎn)矩。首先,當(dāng)滑摩角速度高于模態(tài)決策參量閾值時(shí),以沖擊度、滑摩功、發(fā)動(dòng)機(jī)轉(zhuǎn)矩和起步時(shí)間等起步性能參數(shù)建立的二次型性能指標(biāo)泛函為優(yōu)化目標(biāo),基于線性二次型最優(yōu)控制理論,設(shè)計(jì)二次型最優(yōu)控制器,研究二次型性能指標(biāo)權(quán)系數(shù)對(duì)起步性能的影響規(guī)律,提出以無(wú)同步?jīng)_擊為約束的性能指標(biāo)權(quán)系數(shù)確定方法,建立發(fā)動(dòng)機(jī)目標(biāo)轉(zhuǎn)速、沖擊度權(quán)系數(shù)和發(fā)動(dòng)機(jī)轉(zhuǎn)矩權(quán)系數(shù)關(guān)系MAP,結(jié)合駕駛員起步意圖,實(shí)現(xiàn)了無(wú)同步?jīng)_擊為約束的起步綜合性能最優(yōu)模態(tài)控制;其次,分析了系統(tǒng)參數(shù)攝動(dòng)對(duì)同步?jīng)_擊的影響,當(dāng)起步過(guò)程進(jìn)行到滑摩角速度等于或低于模態(tài)決策參量閾值時(shí),以無(wú)同步?jīng)_擊為優(yōu)化目標(biāo),基于滾動(dòng)時(shí)域控制原理,設(shè)計(jì)目標(biāo)沖擊度實(shí)時(shí)滾動(dòng)預(yù)測(cè)控制器,通過(guò)滾動(dòng)預(yù)測(cè)實(shí)現(xiàn)對(duì)系統(tǒng)參數(shù)攝動(dòng)的自適應(yīng),消除因此而導(dǎo)致的同步?jīng)_擊問(wèn)題,實(shí)現(xiàn)了無(wú)同步?jīng)_擊為目標(biāo)的滾動(dòng)預(yù)測(cè)模態(tài)控制;再次,分析了雙模態(tài)控制策略的模態(tài)決策參量閾值大小對(duì)車(chē)輛起步性能的影響;最后,針對(duì)一款A(yù)MT乘用車(chē),運(yùn)用Matlab/Simulink軟件,建立整車(chē)仿真模型,仿真研究了多種起步工況下基于雙模態(tài)自適應(yīng)起步控制策略的車(chē)輛起步性能,結(jié)果表明該策略在保證起步綜合性能最優(yōu)的同時(shí),實(shí)現(xiàn)了無(wú)同步?jīng)_擊的車(chē)輛起步。針對(duì)離合器系統(tǒng)中膜片彈簧載荷-變形特性的非線性、動(dòng)態(tài)摩擦系數(shù)的時(shí)變性、外界擾動(dòng)的不確定性等因素引起離合器分離軸承位置跟蹤控制精度低,魯棒性差,導(dǎo)致車(chē)輛起步性能下降的問(wèn)題,基于分?jǐn)?shù)階微積分理論,提出了基于模糊分?jǐn)?shù)階滑�？刂�(Fuzzy Fractional Order Sliding Mode Control,FFOSMC)的離合器執(zhí)行系統(tǒng)控制方法。通過(guò)選取光滑且具有緩慢傳遞能量特點(diǎn)的分?jǐn)?shù)階微分滑模面,設(shè)計(jì)等效加切換的控制律和滑模開(kāi)關(guān)增益自整定模糊控制器,實(shí)現(xiàn)了分離軸承位置跟蹤控制進(jìn)入滑動(dòng)模態(tài)時(shí)的抖振抑制,提高了分離軸承位置控制的魯棒性、準(zhǔn)確性和穩(wěn)定性,提高了車(chē)輛起步性能�；贒2P MotoHawk快速原型開(kāi)發(fā)平臺(tái),研制AMT臺(tái)架實(shí)驗(yàn)系統(tǒng),開(kāi)展實(shí)驗(yàn)研究,驗(yàn)證了基于分?jǐn)?shù)階微積分理論的FFOSMC控制器對(duì)提高離合器分離軸承位置跟蹤精度的有效性,驗(yàn)證了雙模態(tài)起步控制策略對(duì)抑制同步?jīng)_擊,提高車(chē)輛起步平順性的有效性。
[Abstract]:Automatic mechanical transmission (Automatic Mechanical Transmission, AMT) on the fuel economy, torque capacity, technology feasibility, outstanding manufacturing cost, has been successfully applied in the field of commercial vehicles. However, in the initial capacity, poor performance in terms of shift quality and other performance indicators, especially instantaneous pause phenomenon when the clutch jointing phase synchronous impact can not be ignored and the serious impact on the occupants comfort, the ride comfort of commercial vehicle starting is widely criticized, but also restricted its application in the passenger area. The AMT vehicle starting control strategy mainly focus on continuous sliding friction lifting clutch engaging stage of shock and the friction work performance, ignoring the impact caused by the synchronous synchronous clutch moment, can not solve the frustration caused by the instantaneous vehicle starting by The problem of poor smoothness, restricting the initial AMT vehicle performance improvement. In view of this, the AMT vehicle without synchronous impact of double mode adaptive control strategy of starting and fractional order control method proposed in this paper, and the principle and method to carry out in-depth research. The main contents are as follows: the development of Research on the mechanism and modeling of dynamic torque transmission clutch separation bearing position and dynamic friction coefficient based on the determination of clutch engagement law provides a theoretical basis for the quantitative analysis. Firstly, the deformation characteristics of the diaphragm spring clutch and waveform spring, pressure transmission of the clutch engagement process, establish the model of clutch friction surface pressing force based on the position of the separation bearing; secondly, the related theory of tribology based on the analysis of clutch slip surface pressure and speed of sliding friction, influence factors of surface temperature on the friction coefficient of clutch, according to The experimental data based on extreme learning machine (Extreme Learning Machine ELM) algorithm, a contains 45 neurons in the hidden layer, with high precision, dynamic prediction model of clutch friction coefficient of neural network with high real-time, clutch surface temperature and for the real-time prediction of the dynamic friction coefficient is difficult to directly measure the relationship between problems. The effect of thermal inertia and friction work principle and Wen Sheng based on the surface temperature prediction model is established for clutch friction work based on iteration is proposed. The AMT vehicle without synchronous impact of double mode adaptive start control strategy. The strategy with slip angular velocity synchronization control modal parameters impact decision-making, implementation has no impact for synchronization the optimal control performance constraints and start without synchronous impact rolling forecast optimization control target, determine the clutch dynamic target torque first, When the slip angle speed is higher than the modal parameters of decision threshold, the degree of impact and the friction work of the two type performance index function is established starting performance of the engine torque and starting time as the optimization objective, linear quadratic optimal control in two based on the theory, design two optimum control device, the influence of the two type the performance index weight coefficient on the starting performance, put forward the method for determining the impact of non synchronous performance index weight coefficient constraint, a target engine speed, the impact of the weight coefficient and the relationship between the engine torque coefficient MAP, combined with the driver's starting intent to realize non synchronous control of the impact modal comprehensive performance start optimal constraint; secondly, analysis the system parameter perturbation effect on synchronous shock, when starting to slip angular velocity is equal to or lower than the modal parameters of decision threshold, with no synchronization impact for the optimization goal, base In the receding horizon control principle, design target impact real-time scrolling through the realization of adaptive predictive controller, system parameter perturbation prediction of rolling, resulting in elimination of synchronous impact problems, has no impact to the target prediction mode of synchronous rolling control; thirdly, analyzed the influence of the size parameters of double threshold decision modal modal control strategy the initial performance of the vehicle; finally, according to a AMT passenger car, the use of Matlab/Simulink software, establishes the vehicle simulation model, the simulation of dual mode adaptive vehicle control strategy based on step starting performance under various starting conditions, the results show that the strategy can guarantee the initial optimal comprehensive performance at the same time, the vehicle starts without synchronous impact for nonlinear system - clutch diaphragm spring load deformation characteristics, time-varying dynamic friction coefficient, the disturbance of uncertainty Clutch bearing position tracking control accuracy caused by low qualitative factors such as poor robustness, resulting in a decline in vehicle starting performance, based on the fractional calculus theory, is proposed based on Fuzzy fractional order sliding mode control (Fuzzy Fractional Order Sliding Mode Control, FFOSMC) execution control system of clutch. By fractional differential and smooth sliding mode selection with the slow energy transfer characteristics, design and equivalent switching control law and sliding switch gain self-tuning fuzzy controller to realize the position tracking control of buffeting into separate bearing sliding mode suppression, improves the robustness of the separation bearing position control, accuracy and stability, improve the vehicle performance. D2P MotoHawk quick start the prototype development platform based on the development of AMT platform experiment system, experimental study was carried out to verify the theory of fractional calculus based on FF The effectiveness of OSMC controller for improving the position tracking accuracy of clutch release bearing is verified. It is verified that the dual mode start control strategy is effective for restraining synchronous impact and improving vehicle starting smoothness.

【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：U463.2

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