电驱动双速自动变速器换挡过程的最优控制

doi:10.16183/j.cnki.jsjtu.2018.06.005

上海交通大学学报（自然版） ›› 2018, Vol. 52 ›› Issue (6): 658-665.doi: 10.16183/j.cnki.jsjtu.2018.06.005

电驱动双速自动变速器换挡过程的最优控制

柴本本1，巫少方1，张建武1，林连华2，徐海港2

1. 上海交通大学机械与动力工程学院，汽车电子国家工程实验室，上海 200240; 2. 山东时风(集团)有限责任公司，山东高唐 252800

通讯作者: 柴本本(1991-)，男，河南省商水县人，博士生,主要研究方向为电驱动两挡自动变速器集成控制. E-mail： chaibenben2014@sjtu.edu.cn.通信作者：张建武，男，教授，博士生导师，E-mail：jwzhang@sjtu.edu.cn.
基金资助:
山东省科技重大专项资助项目(2015ZDXX0601C01)

Optimal Control Strategy of Two Speed Automatic Mechanical Transmission in Shift Process

CHAI Benben1,WU Shaofang1,ZHANG Jianwu1,LIN Lianhua2,XU Haigang2

1. National Engineering Laboratory of Automotive Electronic Control Technology, Shanghai Jiao Tong University, Shanghai 200240, China; 2. Shandong Shifeng (Group) Company Limited, Gaotang 252800, Shandong, China

摘要/Abstract

摘要： 针对换挡过程不同阶段同步器动力学模型的复杂性和不确定性，提出一种最优控制策略对驱动电机转矩进行反馈补偿和采用非线性时间最优控制对换挡电机进行位置控制，以优化整个换挡过程.试验结果表明：该混合最优控制策略能够消除换挡过程中输出转矩的振荡，明显减少了换挡时间；建立的电驱动传动系与电动换挡执行机构耦合动力学模型能够精确反映电驱动无离合器自动变速器的换挡过程；驱动电机和换挡电机混合优化控制策略可以显著改善换挡品质，为电驱动自动变速器的开发提供参考.

关键词: 电驱动双速自动变速器, 协同控制, 换挡冲击, 最优控制

Abstract: In order to validate the shift strategy of 2-speed automatic mechanical transmissions (2AMT) for electric vehicles, the powertrain test rig including high performance electric dynamometer is built up and experiments under different conditions are made. Then, a compound optimal control strategy is presented to improve the shift performance. In other words, a linear quadratic regulator is employed to actively compensate the drive motor torque and a nonlinear time-optimal control is used to track the actuator rotor position. The experiment results show that this optimal control strategy can not only reduce the driveline vibration, but also cut down period of the shift time. The coupled dynamic model of the driveline and shift actuator is precise enough for the analysis of shift process, and the compound optimal control strategy is effective to improve the shift quality.

Key words: 2-speed automatic mechanical transmissions (2AMT), combined control, shift shock, optimal control

中图分类号:

U 463.212

柴本本1，巫少方1，张建武1，林连华2，徐海港2. 电驱动双速自动变速器换挡过程的最优控制[J]. 上海交通大学学报（自然版）, 2018, 52(6): 658-665.

CHAI Benben1,WU Shaofang1,ZHANG Jianwu1,LIN Lianhua2,XU Haigang2. Optimal Control Strategy of Two Speed Automatic Mechanical Transmission in Shift Process[J]. Journal of Shanghai Jiaotong University, 2018, 52(6): 658-665.

参考文献

［1］RUAN J, WALKER P, ZHANG N. A comparative study energy consumption and costs of battery electric vehicle transmissions［J］. Applied Energy, 2016, 165: 119-134. ［2］NICOLA F D, SORNIOTTI A, HOLDSTOCK T, et al. Optimization of a multiple-speed transmission for downsizing the motor of a fully electric vehicle［J］. SAE International Journal of Alternative Powertrains, 2012, 1(1): 134-143. ［3］MOROZOV A, HUMPHRIES K, ZOU T, et al. Design and optimization of a drivetrain with two-speed transmission for electric delivery step van［C］∥Electric Vehicle Conference (IEVC), 2014 IEEE International. Florence, Italy: IEEE, 2014: 1-8. ［4］GAO B, LIANG Q, XIANG Y, et al. Gear ratio optimization and shift control of 2-speed I-AMT in electric vehicle［J］. Mechanical Systems and Signal Processing, 2015, 50/51: 615-631. ［5］HU J, SUN C, XIAO J, et al. A torque compensation strategy in two-speed automated mechanical transmission shift process for pure electric vehicles［J］. Advances in Mechanical Engineering, 2015, 7(11): 441-444. ［6］傅洪, 田光宇, 陈红旭, 等. 电机-变速器集成驱动系统扭转振动控制的研究［J］. 汽车工程, 2010, 32(7): 596-600. FU Hong, TIAN Guangyu, CHEN Hongxu, et al. A study on the torsional vibration control of motor transmission integrated drive system［J］. Automotive Engineering, 2010, 32(7): 596-600. ［7］TSENG C Y, YU C H. Advanced shifting control of synchronizer mechanisms for clutch-less automatic manual transmission in an electric vehicle［J］. Mechanism and Machine Theory, 2015, 84: 37-56. ［8］YU C H, TSENG C Y. Research on gear-change control technology for the clutch-less automatic-manual transmission of an electric vehicle［J］. Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering, 2013, 227(10): 1446-1458. ［9］LIN S, CHANG S, LI B. Improving the gearshifts events in automated manual transmission by using an electromagnetic actuator［J］. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2015, 229(9): 1548-1561. ［10］LU T, LI H, ZHANG J, et al. Supervisor control strategy of synchronizer for wet DCT based on online estimation of clutch drag torque［J］. Mechanical Systems and Signal Processing, 2016, 66/67: 840-861. ［11］程潇骁. 电机变速器耦合系统换挡过程动力学建模与控制策略研究［D］. 北京: 清华大学, 2014. CHENG Xiaoxiao. Dynamics modeling and control strategy for the shifting process of coupled motor-transmission system［D］. Beijing: Tsinghua University, 2014. ［12］孙少华. 纯电动客车机械式自动变速器换挡综合控制技术研究［D］.吉林: 吉林大学, 2014. SUN Shaohua. Research on shift integrated control technology for automated manual transmission in pure electric bus［D］. Jilin: Jilin University, 2014.

[1]	苏山, 谢永杰, 白瑜亮, 刘印田, 单永志. 微分对策协同对抗制导律方法研究[J]. 空天防御, 2022, 5(2): 58-64.
[2]	何林坤, 张冉, 龚庆海. 基于强化学习的可回收运载火箭着陆制导[J]. 空天防御, 2021, 4(3): 33-40.
[3]	于特, 王磊. 基于协同控制的自重构平台算法及试验验证[J]. 上海交通大学学报, 2021, 55(11): 1493-1498.
[4]	李彪, 王立文, 邢志伟, 王思博, 罗谦. 飞机地面除冰资源协同控制[J]. 上海交通大学学报, 2021, 55(11): 1362-1370.
[5]	李征, 陈建伟, 彭博. 基于伪谱法的无人机集群飞行路径规划[J]. 空天防御, 2021, 4(1): 52-59.
[6]	姜晓明, 王旭烽, 张伟芳, 刘宜罡. 激光跟瞄系统粗精复合轴协同控制策略优化研究[J]. 空天防御, 2019, 2(3): 31-37.
[7]	史建涛,何潇，周东华. 多机编队系统的协同容错控制[J]. 上海交通大学学报（自然版）, 2015, 49(06): 819-824.
[8]	张礼学1，王中伟1，杨希祥1，宋庆雷2. 基于Gauss伪谱法的平流层飞艇上升段航迹规划[J]. 上海交通大学学报（自然版）, 2013, 47(08): 1205-1209.
[9]	谢强德a, 杨明a, 王冰a, 王春香b. 一种基于最优控制的车队协作算法[J]. 上海交通大学学报（自然版）, 2011, 45(07): 949-953.
[10]	袁德虎,金惠良，孟国香，冯正进. 机器人yoyo轨迹规划与控制[J]. 上海交通大学学报（自然版）, 2010, 44(07): 940-0945.