智能自学习AMT车辆起步控制方法的研究与应用

发布时间：2018-03-07 07:45

本文选题：AMT起步　切入点：模糊控制　出处：《哈尔滨工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着经济的快速发展,我国的汽车产销量均达到了世界第一,然而绝大部分汽车整车和关键零部件的市场被外资或者合资企业占有,自主品牌汽车发展缓慢。中国制造“2025”、智能制造、节能减排、创新驱动发展等战略的提出,极大的促使了我国产业的转型升级,各行各业开始注重技术创新,也给汽车技术的革新带来了机会。由于电控自动变速箱结构简单、传动效率高、驾驶体验较好,各企业纷纷大力对其进行开发研究。本文基于企业合作研究了AMT(Automated Mechanical Transmission)起步控制。首先明确了本课题研究的背景及意义,通过综合文献分析发现目前离合器起步控制存在的问题与不足,离合器的控制过多的关注了接合速度精确控制而忽视了接合量以及发动机的协调控制来保证车辆的正常起步,注重算法的智能性和高效性却忽视了其单片机实现以及汽车实际应用的难度。据此分析,确定了本文所需的研究内容。其次研究离合器起步控制对象的特性。通过分析传动系统的构成以及各部件的特性,建立发动机动力学模型、离合器扭矩传递模型、整车阻力模型、离合器车辆起步接合控制的模型以及离合器的液压执行系统的数学模型,着重分析了离合器关键部件膜片弹簧的变形与压力特性,为控制策略的研究奠定基础。再次研究离合器起步控制策略的结构和相关算法特性。控制从实际应用出发采用了分层递阶控制算法,将起步控制器的结构划分为感知层、决策层和执行层。根据感知层和决策层要求的智能性高,均采用模糊控制算法;执行层要求适应性强、精度高,采用仿人智能模糊控制;并对其具体算法进行研究。然后研究具体实现离合器起步控制算法及仿真。根据各层控制的功能设计其控制算法,通过感知层的模糊识别驾驶人的起步意图;决策层以驾驶人的起步意图、发动机实际转速与目标转速相对差以及离合器系统的的主从动盘转速相对差来确定分离轴承接合速度以及接合量,兼顾发动机的平稳运行;执行层控制执行器的完成决策层制定的规律。通过Simulink,仿真验证控制器的性能。最后基于d SPCAE快速原型实车实验。通过DSPACE平台能将Simulink建立的控制器模型转化为C代码直接控制离合器的接合,在测试过程中可以在线调试相关参数,以此来获得良好的控制效果,验证起步控制器的性能是否满足了驾驶人的起步意图、冲击度小、滑磨功小、发动机运行平稳的要求。
[Abstract]:With the rapid development of economy, China's automobile production and sales have reached the first place in the world. However, most of the market of the whole automobile and key parts is occupied by foreign capital or joint venture. The development of self-owned brand cars is slow. The strategy of "2025" made in China, intelligent manufacturing, energy saving and emission reduction, and innovation-driven development has greatly promoted the transformation and upgrading of China's industries, and various industries have begun to pay attention to technological innovation. It also brings opportunities for innovation in automotive technology. Because of its simple structure, high transmission efficiency and good driving experience, Every enterprise makes great efforts to develop and research it. Based on the enterprise cooperation, this paper studies the AMT(Automated Mechanical transmission starting control. Firstly, the background and significance of this research are defined. Through the comprehensive literature analysis, it is found that there are many problems and shortcomings in clutch starting control. The clutch control pays too much attention to the precise control of the engagement speed and neglects the joint quantity and the coordinated control of the engine to ensure the normal starting of the vehicle. Paying attention to the intelligence and efficiency of the algorithm neglects the difficulty of the realization of single-chip microcomputer and the practical application of automobile. The research contents of this paper are determined. Secondly, the characteristics of clutch starting control object are studied. By analyzing the structure of transmission system and the characteristics of each component, the engine dynamics model and clutch torque transfer model are established. The resistance model of the whole vehicle, the model of the starting joint control of the clutch vehicle and the mathematical model of the hydraulic execution system of the clutch are discussed. The deformation and pressure characteristics of the diaphragm spring, the key component of the clutch, are emphatically analyzed. It lays a foundation for the study of control strategy. The structure of clutch starting control strategy and the characteristics of relevant algorithms are studied again. The hierarchical control algorithm is used to control the clutch starting control strategy, and the structure of the starting controller is divided into perceptual layer. According to the high intelligence requirement of perception layer and decision layer, the fuzzy control algorithm is adopted, and the executive layer requires strong adaptability and high precision, and adopts humanoid intelligent fuzzy control. Then the clutch starting control algorithm and simulation are studied. According to the control function of each layer, the control algorithm is designed, and the initial intention of the driver is recognized by fuzzy recognition of the perceptual layer. In the decision layer, the starting intention of the driver, the relative difference between the actual engine speed and the target speed, and the relative difference in the speed of the main follower of the clutch system are used to determine the engagement speed and the engagement quantity of the separation bearing, taking into account the smooth operation of the engine. Through Simulink, the performance of controller is verified by simulation. Finally, based on d SPCAE rapid prototyping experiment, the controller model established by Simulink can be transformed into C generation by DSPACE platform. Code directly controls the engagement of the clutch, In the process of testing, relevant parameters can be adjusted online to obtain good control effect, and verify whether the performance of the starting controller meets the requirements of the driver's starting intention, low impact, small sliding power and stable engine operation.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.212

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