电控机械式自动变速器坡道起步控制研究
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摘要
电控机械式自动变速器AMT(Automated Mechani cal Transmission)具有许多优点,适合中国国情,现已成为自动变速器领域一个重要的研究与开发方向。在国内,有许多高校和汽车厂家正在加大力度研发AMT系统。而坡道起步控制是AMT产品化的关键技术之一。对于坡道起步,机械式变速器是靠驾驶员熟练的驾驶技术使制动释放、离合器接合、发动机加油三者协调工作来实现顺利起步的;但对于AMT系统由于取消了离合器踏板,驾驶员无法感知离合器位置,使坡道起步控制更加困难。目前,对于解决AMT的坡道起步问题的方法是加装坡道起步辅助系统(HAS),从而研究装有HAS系统的AMT车辆坡道起步问题具有重要的现实意义。
本文首先阐述了AMT发展的历程及国内外现状,同时分析了AMT坡道起步的控制难点,并且对AMT的结构和控制原理进行了研究,为下文的研究奠定了理论基础。根据汽车坡道起步离合器的接合过程,建立了坡道起步的动力学模型;并根据影响AMT坡道起步离合器接合规律的主要因素,提出了离合器接合速度控制方法,同时建立了模糊控制模块。并将离合器由常规的电动泵持续供油,改为与转向器共用一个油源的方法对系统间隔式供油。然后分析了HAS系统的结构和工作过程,提出了HAS系统的控制逻辑,指出了传统的基于汽车行驶动力学的起步阻力辨识方法的缺点。同时自行设计了一种坡度传感器,利用此传感器辨识起步阻力,以利于HAS阀的释放控制。最后利用MATLAB/Simulink软件建立了装有HAS系统的AMT车辆坡道起步的整车仿真模型,通过仿真验证了前文提出的离合器接合速度模糊控制和基于坡度传感器的HAS系统方案的可行性和有效性。
There are many merits in the AMT which is suitable to China's national conditions,and it becomes an important study and exploitation direction in automated transmission.In our country,there are many universities and manufactures who are studying the AMT system increasingly.Therefore,the farther method study of AMT system control and the appropriate summarization method of AMT design can provide excellent ideas and methods for the AMT development and father exploitation,and offer great utility value;it is important for the AMT industrialization and improving the self-determination exploitation capability of our country's automatic transmissions.
Automatic mechanical transmission(AMT) is based on the structure of the traditional mechanical transmission,through the installation of computer-controlled automatic control agencies,makes the traditional transmission achieve the high efficiency,low cost automatic control.Regarding the hill-start,the mechanical transmission depends on the driver's skilled driving technology to coordinate the brake releasing,the clutch engagement and the engine refueling to achieve a smooth start.But the AMT system has cancelled the clutch pedal,the driver can not apperceive the clutch's position,so that the control of hill starting is to be more difficult.Thus,the control of hill starting becomes one of the key technologies for AMT's commercialization,and the clutch engagement control is difficulty,and difficulty in uphill start is its disadvantage compared to torque convert type automatic transmission.At present,regarding the AMT's hill starting problem,the solution is to install the hill-start assist system(HAS).So the study on the AMT vehicle starting ramp control with HAS has an important practical significance.
The role of HAS is:With the adoption of ECU control,even if the driver does not step on the brake pedal also keep the vehicle power system under the parking state,and the vehicle will not back away.At the starting of an automatic discharge system power,the process of the vehicle starting is completed successfully.The basic principle of HAS working is:The electromagnetic check valves are equipped in the pipes between the main hydraulic cylinder and hydraulic brake wheel-cylinder,and the control unit controls the electromagnetic coil ON / OFF to open and close the circuit.When the electromagnetic coil is non-excited,the HAS valve is in open status and the brakes work normally.When the power of electromagnetic coil is in ON status,the HAS valves turn off to maintain the braking pressure of the hydraulic wheel-cylinder.If the driver feels that the braking pressure isn't full, he can step the brake pedal further and supply the wheel cylinder with oil to improve braking through the check valve.In the automobile starting process,when the clutch engages to a certain extent,the transferred torque is just able to overcome the initial resistance and the power of the solenoid valve is off,so the electromagnetic coil is at OFF status and open the hydraulic circuit to reduce the hydraulic pressure.The power of braking system is released rapidly in order to avoid flameout of the engine or down of the vehicle to achieve the starting smoothly of the vehicle at the hill.
This article first recalls the development course of the AMT,and analyzes the key technologies needed to improve on the control of AMT starting ramp,and the research on AMT's structure and control principle is carried out,which has laid a theoretical foundation for the below research.According to the bonding process of the clutch I set up a dynamics model with the master clutch,slave disk at the core for ramp starting,and analyze the model in order to get the control law of clutch.I analyze the main factors which effect clutch engagement rules more detailed.And the clutch engagement speed control program is putted forward,while the paper uses clutch fuzzy control.The driver intentions,the main and follower disk rotational speed differential and joint length of clutch are considered as the input signal,so the clutch engagement process can be controlled more accurately.And then it puts forward the improving of the structure of power source for the clutch hydraulic cylinders.That is to say that it does not affect the steering system at work,when the conventional continuous supplying to the clutch by the electric pump is replaced with supplying intervally by a common oil source with the steering gear system.This method can improve energy conservation,and simplify the system structure,and reduce costs,too.And then the article analyzes the structure and working process of the HAS system,and design a slope sensor based on the kinetics and resistor strain theory which is simple structure and convenience of installation and measuring.It can measure the longitudinal gradient when the vehicle is running.The measured maximum is 30°,and the lower limit is 1°of this sensor. The sensor has small non-linear error and enough sensitivity.Thus it puts forward a program of an automatic control logic of HAS system,which is the HAS function automatic trigger based on the gradient-sensor identifying the gradient and the HAS valve released control based on the gradient-sensor identifying the initial resistance.
Finally this article uses the MATLAB / Simulink software to set up a whole vehicle simulation model of a AMT vehicle with the HAS system starting-hill,which is based on the relevant data of the beach car with AMT in our research projects.Through simulation it demonstrates the feasibility and effectiveness of the clutch pressure control and the HAS system based on gradient-sensor that are discussed in the former paper;and also demonstrates that the program of use the fuzzy control method to control the clutch is reasonable.
本文首先阐述了AMT发展的历程及国内外现状,同时分析了AMT坡道起步的控制难点,并且对AMT的结构和控制原理进行了研究,为下文的研究奠定了理论基础。根据汽车坡道起步离合器的接合过程,建立了坡道起步的动力学模型;并根据影响AMT坡道起步离合器接合规律的主要因素,提出了离合器接合速度控制方法,同时建立了模糊控制模块。并将离合器由常规的电动泵持续供油,改为与转向器共用一个油源的方法对系统间隔式供油。然后分析了HAS系统的结构和工作过程,提出了HAS系统的控制逻辑,指出了传统的基于汽车行驶动力学的起步阻力辨识方法的缺点。同时自行设计了一种坡度传感器,利用此传感器辨识起步阻力,以利于HAS阀的释放控制。最后利用MATLAB/Simulink软件建立了装有HAS系统的AMT车辆坡道起步的整车仿真模型,通过仿真验证了前文提出的离合器接合速度模糊控制和基于坡度传感器的HAS系统方案的可行性和有效性。
There are many merits in the AMT which is suitable to China's national conditions,and it becomes an important study and exploitation direction in automated transmission.In our country,there are many universities and manufactures who are studying the AMT system increasingly.Therefore,the farther method study of AMT system control and the appropriate summarization method of AMT design can provide excellent ideas and methods for the AMT development and father exploitation,and offer great utility value;it is important for the AMT industrialization and improving the self-determination exploitation capability of our country's automatic transmissions.
Automatic mechanical transmission(AMT) is based on the structure of the traditional mechanical transmission,through the installation of computer-controlled automatic control agencies,makes the traditional transmission achieve the high efficiency,low cost automatic control.Regarding the hill-start,the mechanical transmission depends on the driver's skilled driving technology to coordinate the brake releasing,the clutch engagement and the engine refueling to achieve a smooth start.But the AMT system has cancelled the clutch pedal,the driver can not apperceive the clutch's position,so that the control of hill starting is to be more difficult.Thus,the control of hill starting becomes one of the key technologies for AMT's commercialization,and the clutch engagement control is difficulty,and difficulty in uphill start is its disadvantage compared to torque convert type automatic transmission.At present,regarding the AMT's hill starting problem,the solution is to install the hill-start assist system(HAS).So the study on the AMT vehicle starting ramp control with HAS has an important practical significance.
The role of HAS is:With the adoption of ECU control,even if the driver does not step on the brake pedal also keep the vehicle power system under the parking state,and the vehicle will not back away.At the starting of an automatic discharge system power,the process of the vehicle starting is completed successfully.The basic principle of HAS working is:The electromagnetic check valves are equipped in the pipes between the main hydraulic cylinder and hydraulic brake wheel-cylinder,and the control unit controls the electromagnetic coil ON / OFF to open and close the circuit.When the electromagnetic coil is non-excited,the HAS valve is in open status and the brakes work normally.When the power of electromagnetic coil is in ON status,the HAS valves turn off to maintain the braking pressure of the hydraulic wheel-cylinder.If the driver feels that the braking pressure isn't full, he can step the brake pedal further and supply the wheel cylinder with oil to improve braking through the check valve.In the automobile starting process,when the clutch engages to a certain extent,the transferred torque is just able to overcome the initial resistance and the power of the solenoid valve is off,so the electromagnetic coil is at OFF status and open the hydraulic circuit to reduce the hydraulic pressure.The power of braking system is released rapidly in order to avoid flameout of the engine or down of the vehicle to achieve the starting smoothly of the vehicle at the hill.
This article first recalls the development course of the AMT,and analyzes the key technologies needed to improve on the control of AMT starting ramp,and the research on AMT's structure and control principle is carried out,which has laid a theoretical foundation for the below research.According to the bonding process of the clutch I set up a dynamics model with the master clutch,slave disk at the core for ramp starting,and analyze the model in order to get the control law of clutch.I analyze the main factors which effect clutch engagement rules more detailed.And the clutch engagement speed control program is putted forward,while the paper uses clutch fuzzy control.The driver intentions,the main and follower disk rotational speed differential and joint length of clutch are considered as the input signal,so the clutch engagement process can be controlled more accurately.And then it puts forward the improving of the structure of power source for the clutch hydraulic cylinders.That is to say that it does not affect the steering system at work,when the conventional continuous supplying to the clutch by the electric pump is replaced with supplying intervally by a common oil source with the steering gear system.This method can improve energy conservation,and simplify the system structure,and reduce costs,too.And then the article analyzes the structure and working process of the HAS system,and design a slope sensor based on the kinetics and resistor strain theory which is simple structure and convenience of installation and measuring.It can measure the longitudinal gradient when the vehicle is running.The measured maximum is 30°,and the lower limit is 1°of this sensor. The sensor has small non-linear error and enough sensitivity.Thus it puts forward a program of an automatic control logic of HAS system,which is the HAS function automatic trigger based on the gradient-sensor identifying the gradient and the HAS valve released control based on the gradient-sensor identifying the initial resistance.
Finally this article uses the MATLAB / Simulink software to set up a whole vehicle simulation model of a AMT vehicle with the HAS system starting-hill,which is based on the relevant data of the beach car with AMT in our research projects.Through simulation it demonstrates the feasibility and effectiveness of the clutch pressure control and the HAS system based on gradient-sensor that are discussed in the former paper;and also demonstrates that the program of use the fuzzy control method to control the clutch is reasonable.
引文
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