吉林大学学报(工学版) ›› 2024, Vol. 54 ›› Issue (3): 852-864.doi: 10.13229/j.cnki.jdxbgxb.20220991

• 农业工程·仿生工程 • 上一篇    

基于改进遗传算法的湿式离合器压力自适应控制

张延安(),杜岳峰,孟青峰,栗晓宇,刘磊,朱忠祥   

  1. 中国农业大学 工学院,北京 100083
  • 收稿日期:2022-07-29 出版日期:2024-03-01 发布日期:2024-04-18
  • 作者简介:张延安(1993-),男,博士研究生.研究方向:农机装备数字化设计与自动控制技术.E-mail:15063511839@163.com
  • 基金资助:
    国家重点研发计划项目(2020YFB1713502);烟台市校地融合发展项目(2021XDRHXMPT29)

Adaptive control of wet clutch pressure based on improved genetic algorithm

Yan-an ZHANG(),Yue-feng DU,Qing-feng MENG,Xiao-yu LI,Lei LIU,Zhong-xiang ZHU   

  1. College of Engineering,China Agricultural University,Beijing 100083,China
  • Received:2022-07-29 Online:2024-03-01 Published:2024-04-18

摘要:

以提升拖拉机动力换挡变速箱(PST)湿式离合器压力控制准确性为目标,提出了一种基于改进遗传算法的湿式离合器压力无模型自适应控制方法。首先,分析并建立了湿式离合器液压系统数学模型,基于偏格式动态线性化的无模型自适应控制(PFDL-MFAC)算法构建了离合器压力控制器。然后,引入变比例精英保留策略、K-均值聚类算法和灾变策略改进遗传算法,提出了基于灵敏度分析和改进遗传算法的PFDL-MFAC控制器参数整定方法。最后,开展了基于拖拉机自动变速箱控制单元(TCU)硬件在环试验平台的离合器压力控制试验。结果表明:改进遗传算法的收敛速度和优化精度更好;与PID控制相比,PFDL-MFAC的离合器压力响应速度更快、鲁棒性更好,满足拖拉机湿式离合器压力控制要求;同时,基于本文算法的变速箱换挡品质更优,研究成果可为动力换挡拖拉机换挡品质的提升提供基础。

关键词: 农业工程, 拖拉机, 湿式离合器, 无模型自适应控制, 遗传算法

Abstract:

Aiming to improve the accuracy of wet clutch pressure control of tractor power shift transmission (PST), a model-free adaptive control method for wet clutch pressure based on improved genetic algorithm is proposed. Firstly, the mathematical model of the wet clutch hydraulic system was analyzed and established, and the clutch pressure controller was constructed based on the partial form dynamic linearization based model free adaptive control (PFDL-MFAC) algorithm. Then, the variable-proportion elite retention strategy, K-means clustering algorithm and catastrophe strategy were introduced to improve the genetic algorithm, and a PFDL-MFAC controller parameter tuning method based on sensitivity analysis and improved genetic algorithm was proposed. Finally, the clutch pressure control test based on the tractor transmission control unit (TCU) hardware-in-the-loop test platform was carried out. The results show that the improved genetic algorithm has better convergence speed and optimization accuracy. Compared with PID, PFDL-MFAC has faster clutch pressure response and better robustness, which can meet the requirements of tractors. At the same time, the shifting quality of the transmission based on the algorithm in this paper is better. The research results provide a basis for improving the shifting quality of power-shift tractors.

Key words: agricultural engineering, tractor, wet clutch, model free adaptive control, genetic algorithm

中图分类号: 

  • S219.032.1

图1

离合器液压系统基本结构"

图2

K-均值聚类算法计算步骤"

图3

灾变操作流程"

图4

改进的遗传算法流程"

图5

拖拉机TCU硬件在环试验平台"

表1

比例减压阀和离合器的主要参数"

变 量参数
供油压力ps/Pa2×106
油液密度ρ/(kg·m-3900
等效体积弹性模量βe/Pa1.7×109
比例减压阀节流孔数量nv6
比例减压阀节流孔直径d/m0.003
比例减压阀阀芯质量mv/kg0.015
比例减压阀回位弹簧刚度kv/(N·m-12000
比例减压阀回位弹簧初始位移xv0/m0.001
比例减压阀反馈腔阻尼孔直径df/m0.005
比例减压阀反馈腔初始容积Vf0/m38.92×10-7
比例减压阀主腔容积Vv/m34×10-5
离合器油缸进油口直径dL/m0.0035
活塞等效质量mL/kg0.65
活塞回位弹簧刚度KL/(N·m-1104 500
活塞回位弹簧预压力FL0/N3094
活塞外半径R2/m0.07
活塞内半径R1/m0.035
摩擦片等效刚度Kn/(N·m-11.6134×108
摩擦片Kisspoint点Δ/m0.004

图6

动力换挡变速箱传动简图"

图7

动力换挡拖拉机动力学模型"

图8

累计频率分布曲线"

表2

灵敏度分析结果"

参数DS

不灵敏参数

取值

参数DS

不灵敏参数

取值

λ0.99620.6ε10.99870.56
μ0.99130.012ε20.99800.95
η0.99452α0.99781.50
ρ10.7364-W1(0)0.6329-
ρ20.93330.15W2(0)0.6748-
ρ30.96250.15W3(0)0.94520.01

图9

适应度曲线"

图10

方波压力跟随试验结果"

图11

正弦压力跟随试验结果"

图12

换挡试验结果"

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