重型商用车气动式离合器起步控制研究
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摘要
本文基于国家863计划课题“重型商用车机械式自动变速器”,以一种气动式离合器自动操纵系统为研究对象,对其动态特性进行了仿真研究,其意义在于为气动离合器执行机构和控制器的设计和验证提供理论依据。
本文主要围绕以下几个方面展开研究:
(1)本文首先对单片干式离合器的负荷特性、分离特性、扭矩传递特性和磨损特性进行介绍,接着分析离合器的控制理论,包括离合器接合的几种控制方式,重点分析离合器的接合过程。
(2)描述气动式离合器自动操纵系统的原理,并对其结构进行说明;分析几种常用的离合器控制算法,在比较各种控制算法优缺点的基础上选出本文所要使用的控制算法;建立离合器模型,并进行离合器接合过程仿真,验证控制算法选择的准确性。
(3)详细介绍离合器的起步控制原则,包括油门开度、发动机转速、输入轴转速、发动机与输入轴的转速差对离合器的接合量及接合速度的影响;说明离合器接合过程的评价指标,包括冲击度和滑磨功;进行试验分析,其中包括台架试验和集成装车后的道路试验,比较车辆在不同油门开度下的起步情况,并对结果进行分析。
Automated Mechanical Transmission (AMT) based on the Manual Transmission and dry clutch makes the vehicle start and shift automatically, which is done by the action of electrohydraulic servomechanism controlled by Transmission Control Unit(TCU). Because of the high transferring efficiency, low cost and easiness to manufacture, Automated Mechanical Transmission (AMT) plays an important role in the family of Automatic Transmission. With the increasing demands for improving oil efficiency and decreasing exhausted gas more and more people realize the importance and the necessity to develop the AMT system. Series of the products have been equipped in some types of vehicles by some well-known automobile corporations recently worldwide.
As we all know, there are so many manual transmission plants in China , so AMT system is much more suitable to Chinese situation than any other kinds of automatic transmission (i.e. AT and CVT), the prospect of AMT market in China is great and prosperous. In August 1998, Santana 2000 equipped with AMT system which was developed by Hydraulic Mechanical Transmission Institute (HMTI) Jilin University (the former Jilin University of Technology)passed the national certification. The experts concluded that this research was advanced internationally.This means that AMT has been fully developed into the commercial stage. Now,some vehicle corporations are developing the AMT technology in China, but the technology is still not very mature and they aren’t able to produce a real product.This paper is carried out combining the 863 project "heavy-duty automated mechanical transmission for commercial vehicles".Some analysises and researches are carried out to the automatic clutch pneumatic control system.The paper’s main contents include several points followed:
1.At first the development history and the present condition of AMT home and abroad are introduced briefly. Then put forward the development of key technologies for automatic transmission. The study points out that the clutch need to auto-control system and refers to the classification of automatic clutch control system.In the paper,we analyze advantages and disadvantages of several clutch control systems.We select the pneumatic clutch automatic control system in consideration of the need of this subject. The choice also identify the main contents of this article.
2. This paper have a detailed description of the clutch for its load and disengagement preperties, torque transmission property and grinding property.It also introduce several control methods of a clutch and have a detailed analysis of the clutch’s engagement process,which provides a theoretical basis for the choice of clutch control algorithm and control strategy and also provides a foundation for the following building up clutch model and simulation analysis.
3.This paper has an analysis of the automatic clutch control system’s principal.and describes in detail the structure of control system components. Several commonly used clutch lists in the paper.After comparing the advantages and disadvantages of various control algorithms,we choose the PID control algorithm. the establishment of the clutch model, and the process of clutch engagement simulation, through the analysis of simulation results to evaluate the control algorithm selected in this article.We have built up a clutch model and simulated the process of clutch engagement. Through the analysis of simulation results we can evaluate the control algorithm selected in this article.
4.Control pincipias of a vehicle are described in this paper, including throttle opening, engine speed, input shaft speed, and the difference between inshaft speed and engine speed’s impact on the amount and speed of clutch engagement. Evaluation indicators are showed in the paper,that is frictional work and the impact degree. Experimental analysis of clutch engagement process is carried out. We have introduced the test object and test equipment in the paper.Bench test and road test results are analyzed in the paper,from this analysis we can assess the clutch control strategy.
5.The last chapter as the conclusion of the main ideas summarizes the whole paper.
In a word, this paper studied the Automated mechanical transmission control technology systematically on the basis of former research. I only complete the above work because of limited time and the difficulty of AMT control system. Further research should be performed in order to improve the properties of the AMT system and vehicle later.
本文主要围绕以下几个方面展开研究:
(1)本文首先对单片干式离合器的负荷特性、分离特性、扭矩传递特性和磨损特性进行介绍,接着分析离合器的控制理论,包括离合器接合的几种控制方式,重点分析离合器的接合过程。
(2)描述气动式离合器自动操纵系统的原理,并对其结构进行说明;分析几种常用的离合器控制算法,在比较各种控制算法优缺点的基础上选出本文所要使用的控制算法;建立离合器模型,并进行离合器接合过程仿真,验证控制算法选择的准确性。
(3)详细介绍离合器的起步控制原则,包括油门开度、发动机转速、输入轴转速、发动机与输入轴的转速差对离合器的接合量及接合速度的影响;说明离合器接合过程的评价指标,包括冲击度和滑磨功;进行试验分析,其中包括台架试验和集成装车后的道路试验,比较车辆在不同油门开度下的起步情况,并对结果进行分析。
Automated Mechanical Transmission (AMT) based on the Manual Transmission and dry clutch makes the vehicle start and shift automatically, which is done by the action of electrohydraulic servomechanism controlled by Transmission Control Unit(TCU). Because of the high transferring efficiency, low cost and easiness to manufacture, Automated Mechanical Transmission (AMT) plays an important role in the family of Automatic Transmission. With the increasing demands for improving oil efficiency and decreasing exhausted gas more and more people realize the importance and the necessity to develop the AMT system. Series of the products have been equipped in some types of vehicles by some well-known automobile corporations recently worldwide.
As we all know, there are so many manual transmission plants in China , so AMT system is much more suitable to Chinese situation than any other kinds of automatic transmission (i.e. AT and CVT), the prospect of AMT market in China is great and prosperous. In August 1998, Santana 2000 equipped with AMT system which was developed by Hydraulic Mechanical Transmission Institute (HMTI) Jilin University (the former Jilin University of Technology)passed the national certification. The experts concluded that this research was advanced internationally.This means that AMT has been fully developed into the commercial stage. Now,some vehicle corporations are developing the AMT technology in China, but the technology is still not very mature and they aren’t able to produce a real product.This paper is carried out combining the 863 project "heavy-duty automated mechanical transmission for commercial vehicles".Some analysises and researches are carried out to the automatic clutch pneumatic control system.The paper’s main contents include several points followed:
1.At first the development history and the present condition of AMT home and abroad are introduced briefly. Then put forward the development of key technologies for automatic transmission. The study points out that the clutch need to auto-control system and refers to the classification of automatic clutch control system.In the paper,we analyze advantages and disadvantages of several clutch control systems.We select the pneumatic clutch automatic control system in consideration of the need of this subject. The choice also identify the main contents of this article.
2. This paper have a detailed description of the clutch for its load and disengagement preperties, torque transmission property and grinding property.It also introduce several control methods of a clutch and have a detailed analysis of the clutch’s engagement process,which provides a theoretical basis for the choice of clutch control algorithm and control strategy and also provides a foundation for the following building up clutch model and simulation analysis.
3.This paper has an analysis of the automatic clutch control system’s principal.and describes in detail the structure of control system components. Several commonly used clutch lists in the paper.After comparing the advantages and disadvantages of various control algorithms,we choose the PID control algorithm. the establishment of the clutch model, and the process of clutch engagement simulation, through the analysis of simulation results to evaluate the control algorithm selected in this article.We have built up a clutch model and simulated the process of clutch engagement. Through the analysis of simulation results we can evaluate the control algorithm selected in this article.
4.Control pincipias of a vehicle are described in this paper, including throttle opening, engine speed, input shaft speed, and the difference between inshaft speed and engine speed’s impact on the amount and speed of clutch engagement. Evaluation indicators are showed in the paper,that is frictional work and the impact degree. Experimental analysis of clutch engagement process is carried out. We have introduced the test object and test equipment in the paper.Bench test and road test results are analyzed in the paper,from this analysis we can assess the clutch control strategy.
5.The last chapter as the conclusion of the main ideas summarizes the whole paper.
In a word, this paper studied the Automated mechanical transmission control technology systematically on the basis of former research. I only complete the above work because of limited time and the difficulty of AMT control system. Further research should be performed in order to improve the properties of the AMT system and vehicle later.
引文
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[3]程振彪.国外重型载货车青睐自动变速器[J].重型汽车,2OOO,(4):29—31
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[9]PETER KOPF.道路车辆变速箱起动部件的发展趋势[J].传动技术,1998,(3):25—29
[10]KNIBB,GORMEZAN0,PARTNERS LARRY PLACHNO.Test Driving the J4500 and ZF AS Tronic Transmission[J].National Bus Trader/January,2003
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[30]王丽芳等.机械式自动变速器的自适应控制[J].中国机械工程,1999(3)
[31]阴晓峰等.基于神经网络的AMT离合器自适应温度补偿控制[J].农业机械学报,2001(5)
[32]李人厚.智能控制理论和方法[M].西安:西安电子科技大学出版社,1999
[33][美]Katsuhiko Ogata著卢伯英于海勋等译,现代控制工程(第四版) [M].电子工业出版社,2003.7
[34]倪洪飞等.Matlab/Simulink/Stateflow在AMT换档控制策略开发中的应用[C].2007年APC联合学术年会论文,
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[2]葛均师.重型商用车离合器自动操纵系统研究[D].吉林大学硕士学位论文,2008
[3]程振彪.国外重型载货车青睐自动变速器[J].重型汽车,2OOO,(4):29—31
[4]尔悦.全新一代VOLVO I-shift自动变速器[J].商用汽车,2002,(7).
[5]席军强等.ASCS与AMT的历史、现状及其在中国的发展趋势[J].汽车工程2002,24(2):89—93
[6]梁珍.自动换档机械式变速器(AMT)在欧洲5大品牌载货汽车上的应用[J].商用汽车2002,(8):35—37
[7]ZF Fried rich sha fen AG.Automatic transmissions for trucks and coaches[J].Experiences in development and application Drive System Technique,2001,(4):1—13
[8]FUJIO MOMIYAMA KOJI.商业车辆第二代EE传动自动机械变速箱(AMT)的优越性[J].传动技术,2001,(4):31—38
[9]PETER KOPF.道路车辆变速箱起动部件的发展趋势[J].传动技术,1998,(3):25—29
[10]KNIBB,GORMEZAN0,PARTNERS LARRY PLACHNO.Test Driving the J4500 and ZF AS Tronic Transmission[J].National Bus Trader/January,2003
[11]卢新田等.AMT控制系统结构及国外主要AMT产品介绍[J].汽车技术,2004
[12]J M Slicker.Design of Robust Vehicle Launch Control System.IEEE Transaction on Control Systems Techonology[J]. 1996,4(4)):326-335.
[13]K Pfeiffer, R工sermann .Automatic Control of Vehicle Startup for Emission Tests on Engine Dynamometers[J]. Proceedings of the American ControlConference 1995:2596-2600.
[14]刘岩,丁玉兰,电控机械式自动变速器控制系统研究.重型汽车[M].2001, C1):12一13.
[15]李萍.商用车机械式自动变速系统离合器控制技术研究[D].吉林大学硕士学位论文,2005
[16]朱红军.电子控制机械式自动变速器[J].汽车电器,2000.3
[17]侯培国等.电控机械式自动变速器控制系统的研究[J].传感技术学报,2005.2
[18]Szadkowski,A.and Morford,R.B.Clutch Engagement Simulation:Engagement Without Throttle.SAE Technical Paper920766[J]
[19]江发潮等.机械式自动变速器的离合器优化控制[M].清华大学学报(自然科学版),2005.2
[20]金伦等.电控机械式自动变速器起步控制[M].汽车技术,2004.12
[21]张俊智等.机械式自动变速器离合器控制规律的研究[J].机械工程学报,1999.3
[22]李士勇.模糊控制和智能控制理论与设计[M].哈尔滨:哈尔滨工业大学出版社, 1990
[23]Tanaka H, Wada H. Fuzzy Control of Clutch Engagement for Automated Manual Transmission[J].SAE9307399
[24]葛瞬等.自动变速器离合器的模糊控制[J].汽车技术,1996(6):7~12页
[25]宋忠华.电控机械式自动变速器起步模糊控制[D].吉林工业大学硕士学位论文,1996
[26]申水文等. AMT离合器的综合模糊控制[J].汽车工程,1997(6):347~351页
[27]齐占宁等.基于遗传算法的AMT车辆起步模糊控制[J].机械工程学报,2001,3(74):9~15
[28]王云成等.机械式自动变速器系统的离合器起步模糊控制[J].农业机械学报,2000(11)
[29]施国标,电控机械式自动变速器中离合器控制的研究[D].吉林工业大学硕士学位论文,1998
[30]王丽芳等.机械式自动变速器的自适应控制[J].中国机械工程,1999(3)
[31]阴晓峰等.基于神经网络的AMT离合器自适应温度补偿控制[J].农业机械学报,2001(5)
[32]李人厚.智能控制理论和方法[M].西安:西安电子科技大学出版社,1999
[33][美]Katsuhiko Ogata著卢伯英于海勋等译,现代控制工程(第四版) [M].电子工业出版社,2003.7
[34]倪洪飞等.Matlab/Simulink/Stateflow在AMT换档控制策略开发中的应用[C].2007年APC联合学术年会论文,
[35]胡寿松.自动控制原理[M].北京:科学出版社,2001
[36]王正林,王胜开,陈国顺.MATLAB/SIMULINK与控制系统仿真[M].北京:电子工业出版社,2005
[37]陶永华,尹怡欣,葛芦生.新型PID控制及其应用[M].北京:机械工业出版社,2000
[38]何忠波等,电机驱动式自动离合器起步控制试验研究[J].农业机械学报2003.11
[39]郑磊.解放载货车机械式自动变速器控制技术研究[D].吉林大学硕士学位论文,2004(5):20～32
[40]葛安林.车辆自动变速理论与设计[M].北京:机械工业出版社,1993
[41]廖承林等.车辆动力传动控制系统的研究与开发[J].汽车工程,2002
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