基于非线性扰动观测器的多模式混合动力车辆离合器滑摩扭矩估计

doi:10.1007/s12204-024-2702-7

J Shanghai Jiaotong Univ Sci ›› 2026, Vol. 31 ›› Issue (2): 420-427.doi: 10.1007/s12204-024-2702-7

基于非线性扰动观测器的多模式混合动力车辆离合器滑摩扭矩估计

1. 上海交通大学船舶海洋与建筑工程学院海洋智能装备与系统教育部重点实验室，上海200240；2. 上海交通大学海洋工程国家重点实验室，上海200240

收稿日期:2023-04-13 接受日期:2023-07-07 出版日期:2026-04-01 发布日期:2024-02-20

Nonlinear Disturbance Observer of Clutch Slipping Torque for Multi-Mode Hybrid Electric Vehicles

彭程^{1, 2}，陈俐^{1, 2}，傅圣来^{1, 2}

1. Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China; 2. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2023-04-13 Accepted:2023-07-07 Online:2026-04-01 Published:2024-02-20

摘要/Abstract

摘要： 在混合动力车辆的模式切换过程中，离合器滑摩扭矩呈现复杂变化以及强非线性。本文提出基于非线性扰动观测器（Nonlinear Disturbance Observer，NDO）的实时估计方法实现对于离合器滑摩扭矩的估计。首先，基于LuGre摩擦模型建立面向估计的离合器滑摩扭矩模型。其次，根据输出轴动力学响应设计NDO实现对于离合器滑摩扭矩未知部分的估计。同时，NDO需要的输出轴扭矩通过Luenberger状态观测器进行估计。为了验证估计方法的有效性，进行不同初始滑摩转速以及入口油温的台架实验。结果表明提出的估计方法有较好的估计精度。

关键词: 模式切换, 混合动力车辆, 扭矩估计, 非线性扰动观测器

Abstract: Clutch slipping torque varies complicatedly and has a strong nonlinearity during the mode transition of hybrid electric vehicles. In order to estimate the clutch slipping torque, an online estimator based on the nonlinear disturbance observer (NDO) is proposed. First, an estimation-oriented model of the clutch slipping torque is established based on the LuGre friction model. Next, the NDO is designed to estimate the unknown part of clutch slipping torque based on the dynamics of the output shaft, while the output shaft torque required by NDO is estimated by a Luenberger state observer. To verify the effectiveness of the proposed estimator, experiments are conducted under different initial slipping speeds and inlet oil temperatures. The results show that the proposed estimator gains high accuracy.

中图分类号:

U469.7

. 基于非线性扰动观测器的多模式混合动力车辆离合器滑摩扭矩估计[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(2): 420-427.

Peng Cheng, Chen Li, Fu Shenglai. Nonlinear Disturbance Observer of Clutch Slipping Torque for Multi-Mode Hybrid Electric Vehicles[J]. J Shanghai Jiaotong Univ Sci, 2026, 31(2): 420-427.

参考文献

[1] ZHANG B, ZHANG J Y, XU F G, et al. Optimal control of power-split hybrid electric powertrains with minimization of energy consumption [J]. Applied Energy, 2020, 266: 114873.

[2] PENG C, CHEN L. Model reference adaptive control based on adjustable reference model during mode transition for hybrid electric vehicles [J]. Mechatronics, 2022, 87: 102894.

[3] ZHAO C, ZU B F, XU Y L, et al. Design and analysis of an engine-start control strategy for a single-shaft parallel hybrid electric vehicle [J]. Energy, 2020, 202: 117621.

[4] MYKLEBUST A, ERIKSSON L. Modeling, observability, and estimation of thermal effects and aging on transmitted torque in a heavy duty truck with a dry clutch [J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(1): 61-72.

[5] OH J J, CHOI S B. Real-time estimation of transmitted torque on each clutch for ground vehicles with dual clutch transmission [J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(1): 24-36.

[6] OH J J, CHOI S B, KIM J. Driveline modeling and estimation of individual clutch torque during gear shifts for dual clutch transmission [J]. Mechatronics, 2014, 24(5): 449-463.

[7] XU D F, ZHANG J W, ZHOU B, et al. Robust hierarchical estimator of clutch torques for a compound power-split hybrid electric vehicle [J]. Mechanical Systems and Signal Processing, 2019, 134: 106320.

[8] LEE T, KIM D H, CHOI S B. Driveline modeling with transmission loss and robust torque observer design for dual clutch transmission [J]. IEEE Transactions on Vehicular Technology, 2022, 71(2): 1267-1279.

[9] KIM S, OH J J, CHOI S B. Driveline torque estimations for a ground vehicle with dual-clutch transmission [J]. IEEE Transactions on Vehicular Technology, 2018, 67(3): 1977-1989.

[10] KIM J. Real-time torque estimation of automotive powertrain with dual-clutch transmissions [J]. IEEE Transactions on Control Systems Technology, 2022, 30(6): 2269-2284.

[11] CHEN L, XI G, SUN J. Torque coordination control during mode transition for a series-parallel hybrid electric vehicle [J]. IEEE Transactions on Vehicular Technology, 2012, 61(7): 2936-2949.

[12] CANUDAS DE WIT C, OLSSON H, ASTROM K J, et al. A new model for control of systems with friction [J]. IEEE Transactions on Automatic Control, 1995, 40(3): 419-425.

[13] ARMSTRONG-HE´LOUVRY B, SOOM A. Control of machines with friction [J]. Journal of Tribology, 1992, 114(3): 637.

[14] CHEN W H, BALLANCE D J, GAWTHROP P J, et al. A nonlinear disturbance observer for robotic manipulators [J]. IEEE Transactions on Industrial Electronics, 2000, 47(4): 932-938.

基于非线性扰动观测器的多模式混合动力车辆离合器滑摩扭矩估计

Nonlinear Disturbance Observer of Clutch Slipping Torque for Multi-Mode Hybrid Electric Vehicles

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	傅圣来, 陈俐, 陈自强. 考虑不确定延迟的并联式气电混合动力系统模式切换控制[J]. 上海交通大学学报, 2025, 59(9): 1225-1236.
[2]	彭程,朱剑昀,陈俐. 基于模型参考控制的混合动力汽车模式切换 [J]. 上海交通大学学报, 2017, 51(10): 1196-1201.