Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (5): 1441-1450.doi: 10.13229/j.cnki.jdxbgxb20180465

Previous Articles    

AMT shift actuator adaptive intelligent control strategy

Ting YAN1(),Lin YANG1(),Liang CHEN2   

  1. 1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China
    2. Shanghai 01 Power Technology Co. Ltd. , Shanghai 200240, China
  • Received:2018-05-10 Online:2019-09-01 Published:2019-09-11
  • Contact: Lin YANG E-mail:janus137@126.com;yanglin@sjtu.edu.cn

RICH HTML

 10   

PDF (PC)

291

Abstract:

For the shift actuator control during AMT engagement, an adaptive intelligent control strategy was proposed. The goal is to make the synchronizer displacement follow the target displacement trajectory closely by dual closed-loop control (shift motor current and synchronizer displacement). Considering the shift actuator parameter uncertainty and dynamic disturbance, a compensator control was added to get access to the actual shift motor feature. The compensator gains were obtained by the self-learning algorithm in neuron network, and the input of the self-learning algorithm is the error between shift motor actual current and predicted current by neuron network. Meanwhile, fuzzy adaptive control was utilized to regulate the parameters of PI control in the closed-loop of synchronizer displacement. The target synchronizer displacement trajectory was updated in time by offline and online self-learning strategy. The simulation results verify that compared to normal PID control, the proposed strategy has higher accuracy, better stability and faster response in following target trajectory.

Key words: vehicle engineering, shift actuator, trajectory tracking, self-adaptive, drivability, neuron network, fuzzy algorithm

CLC Number: 

  • U461.4

Fig.1

Shift actuator schematic diagram"

Fig.2

Diagram of synchronizer friction torque"

Fig.3

Force diagram of gear ring when engaging"

Fig.4

Shift actuator adaptive intelligent control scheme"

Fig.5

Neural network structure"

Fig.6

Input and output value membership function"

Table 1

Proportional coefficient correction ? Δ K P fuzzy rules"

E EC
NB NM NS Z PS PM PB
NB Z Z NM NM NM NB NB
NM PS Z NS NM NM NM NB
NS PS PS Z NS NS NM NM
Z PM PM PS Z NS NM NM
PS PM PM PM PS Z NS NS
PM PB PB PM PS PS Z NS
PB PB PB PM PM PS Z Z

Table 2

Integral coefficient correction Δ K I fuzzy rules"

E EC
NB NM NS Z PS PM PB
NB NB NB NM NM NS Z Z
NM NB NB NM NS NS Z Z
NS NB NM NS NS Z PS PS
Z NM NM NS Z PS PM PM
PS NM NS Z PS PS PM PB
PM Z Z PS PS PM PB PB
PB Z Z PS PM PM PB PB

Fig.7

Target synchronizer trajectory curve"

Fig.8

Offline self?learning frame diagram"

Fig.9

Online self?learning frame diagram"

Table 3

Synchronizer simulation parameters"

参 数 数值
摩擦锥面半锥角 φ h /(°) 8
摩擦锥面平均半径 R h f /mm 26.5
锥面间摩擦系数 μ h 0.15
同步器输出轴转速 ω s /(r·min) 600
接合齿圈等效转动惯量 J c h /(kg·m2) 0.016
啮合套等效转动惯量 J s h /(kg·m2) 0.004

Fig.10

AMEsim synchronizer simulation model"

Fig.11

AMEsim simulation curves"

Fig.12

Actuator segment simulation model"

Fig.13

Optimal calculation segment simulation model"

Fig.14

Comparison diagram of simulation results"

1 Yu H L , Xi J Q , Zhang F Q , et al . Research on gear shifting process without disengaging clutch for a parallel hybrid electric vehicle equipped with AMT[J]. Mathematical Problems in Engineering, 2014(3): 1-12.
2 董荷强 . 重型车AMT选换档执行机构系统特性研究[D]. 长春: 吉林大学机械科学与工程学院, 2011.
Dong He-qiang . Study on the gearshift actuator characteristics of heavy-duty vehicle AMT[D]. Changchun: School of Mechanical Science and Engineering, Jilin University, 2011.
3 Roozegar M , Angeles J . A two-phase control algorithm for gear-shifting in a novel multi-speed transmission for electric vehicles[J]. Mechanical Systems & Signal Processing, 2018, 104: 145-154.
4 Irfan M , Berbyuk V , Johansson H . Dynamics and Pareto Optimization of a Generic Synchronizer Mechanism[M]. Berlin:Springer International Publishing, 2016.
5 高智, 钟再敏, 孙泽昌 . 电动AMT选换挡电机执行机构位置最优控制[J]. 汽车工程, 2011, 33(2): 133-137.
Gao Zhi , Zhong Zai-min , Sun Ze-chang . Optimal position control for motor-driven shifting actuator in electrical AMT [J]. Automotive Engineering, 2011, 33(2): 133-137.
6 徐秀华, 陈勇, 罗大国, 等 . 全电式AMT同步器控制分析及其验证[J]. 汽车技术, 2013(5): 41-45.
Xu Xiu-hua , Chen Yong , Luo Da-guo , et al . Control analysis and simulation of synchronizer[J]. Automotive Technology, 2013(5): 41-45.
7 Zhong Z , Kong G , Yu Z , et al . Shifting control of an automated mechanical transmission without using the clutch[J]. International Journal of Automotive Technology, 2012, 13(3): 487-496.
8 吴森, 周炳峰, 樊荣 . 基于电机主动同步原理的AMT设计[J]. 武汉理工大学学报: 信息与管理工程版, 2010, 32(4): 569-572.
Wu Sen , Zhou Bin-feng , Fan Rong . AMT design based on the principle of motor active synchronization[J]. Journal of WUT (Information & Management Engineering), 2010, 32(4): 569-572.
9 申业, 吴光强, 罗先银 . AMT换挡电机精确跟踪控制[J]. 汽车技术, 2014(1): 24-28.
Shen Ye , Wu Guang-qiang , Luo Xian-yin . AMT shift motor accurate position control[J]. Automotive Technology, 2014(1): 24-28.
10 陈丽君 . 电控机械式自动变速器液压换挡执行机构的研究[D]. 重庆: 重庆大学汽车工程学院, 2011.
Chen Li-jun . Study on hydraulic shift actuator of automatic mechanical transmission[D]. Chongqing: School of Automotive Engineering, Chongqing University, 2011.
11 席军强, 王雷, 付文清, 等 . 纯电动客车自动机械变速器换挡过程控制[J]. 北京理工大学学报, 2010, 30(1): 42-45.
Xi Jun-qiang , Wang Lei , Fu Wen-qing ， et al . Shifting control technology on automatic mechanical transmission of pure electric buses[J]. Transactions of Beijing Institute of Technology, 2010, 30(1): 42-45.
12 魏黎 . 基于无刷直流电机的AMT选换挡控制系统研究[D]. 长春: 吉林大学汽车工程学院, 2007.
Wei Li . Research on AMT gear shift control system based on BLDC motor[D]. Changchun: College of Automotive Engineering, Jilin University, 2007.
13 Chen Y , Wang X , He K , et al . Model reference self-learning fuzzy control method for automated mechanical clutch[J]. International Journal of Advanced Manufacturing Technology, 2016, 94(5): 1-10.
14 刘成武, 刘珂路 . 混合动力客车AMT换挡力控制的研究[J]. 湖北汽车工业学院学报, 2011, 25(1): 22-24.
Liu Cheng-wu , Liu Ke-lu . Research and control on AMT shift torque of hybrid electric bus[J]. Journal of Hubei Automotive Industries Institute, 2011, 25(1): 22-24.
15 Yang Y , Wu S , Fu X . Shifting control algorithm for a single-axle parallel plug-in hybrid electric bus equipped with EMT[J]. [2018-05-10].https:∥www.hindawi.com/journals/ddns/2014/618587/
16 李晓春, 褚超美, 缪国 . 汽车同步器换挡二次冲击的动态仿真[J]. 汽车工程, 2014(12): 1498-1502.
Li Xiao-chun , Chu Chao-mei , Miao Guo . A dynamic simulatio on the secondary impact of synchronizer in vehicle shifting process[J]. Automotive Engineering, 2014(12): 1498-1502.
17 王继生 . 基于无离合器AMT的电动变速驱动系统换挡过程同步控制研究[D]. 湖南: 湖南大学机械与运载工程学院, 2011.
Wang Ji-sheng .Synchronous control strategy for electric vehicle based on no clutch shifting AMT[D]. Hunan: College of Mechanical and Vehicle Engineering, Hu'nan University, 2011.
18 李勇, 常思勤, 魏英俊 . AMT选换挡机构自学习控制策略研究[J]. 汽车工程, 2010, 32(10): 878-882.
Li Yong , Chang Si-qin , Wei Ying-jun . Study on the self-learning control strategy for AMT shift actuator[J]. Automotive Engineering, 2010, 32(10): 878-882.
19 赵力, 冒晓建, 祝轲卿, 等 . 混合动力商用车AMT挡位自学习控制技术优化[J]. 汽车工程学报, 2013, 3(1): 9-14.
Zhao Li , Mao Xiao-jian , Zhu Ke-qing , et al . Optimization on self-learning control technology for AMT shifting position of hybrid commercial vehicle[J]. Chinese Journal of Automotive Engineering, 2013, 3(1): 9-14.
[1] Fang-wu MA,Lu HAN,Yang ZHOU,Shi-ying WANG,Yong-feng PU. Multi material optimal design of vehicle product using polylactic acid composites [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1385-1391.
[2] Zhen-hai GAO,Tian-jun SUN,Lei HE. Causal reasoning decision⁃making for vehicle longitudinal automatic driving [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1392-1404.
[3] Bo ZHANG,Jian-wei ZHANG,Kong-hui GUO,Hai-tao DING,Hong-qing CHU. Current control of permanent magnet synchronous motor for road feeling simulation [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1405-1413.
[4] Peng-yu WANG,Shi-jie ZHAO,Tian-fei MA,Xiao-yong XIONG,Xin CHENG. Vehicle multi-sensor target tracking and fusion algorithm based on joint probabilistic data association [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1420-1427.
[5] Xing-jun HU,Zheng HUI,Peng GUO,Yang-hui ZHANG,Jing-long ZHANG,Jing-yu WANG,Fei LIU. Characteristics of aerodynamics for an automobile by fluid-structure coupled method [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1414-1419.
[6] Xiao-jian HAN,Wei-qiang ZHAO,Li-jun CHEN,Hong-yu ZHENG,Yang LIU,Chang-fu ZONG. Local path planning of bus based on RS-RRT algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1428-1440.
[7] Jing LI,Qiu⁃jun SHI,Peng LIU,Ya⁃wei HU. Neural network sliding mode control of commercial vehicle ABS based on longitudinal vehicle speed estimation [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1017-1025.
[8] Shun YANG,Yuan⁃de JIANG,Jian WU,Hai⁃zhen LIU. Autonomous driving policy learning based on deep reinforcement learning and multi⁃type sensor data [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1026-1033.
[9] Xin CHEN,Ming LI,Xin⁃jian RUAN,Ning WANG,Jia⁃ning WANG. Investigation of vortical structures in wake of Ahmed body by delayed detached⁃eddy simulation turbulence model using immersed boundary method [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1034-1042.
[10] Hua ZHOU,Zhi⁃gang YANG,Hui ZHU. Aerodynamic calculation of MIRA model correlated with wind tunnel test [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1043-1053.
[11] Ji⁃qing CHEN,Meng⁃meng LIU,Feng⁃chong LAN. Experiment on overcharge safety of NCM battery and battery pack [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1072-1080.
[12] Run⁃dong LIU,Jun MAO,Yan⁃hong XI,Hong⁃yu ZHANG,Fei PENG. Pressure pulse on windbreak impacting by cross⁃wind coupling with high⁃speed trains passing each other [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1054-1062.
[13] Guo⁃feng QIN,Jing⁃xin NA,Wen⁃long MU,Wei TAN,Jian⁃ze LUAN,Hao SHEN. Degradation failure of adhesively bonded CFRP/aluminum alloy subjected to high temperature environment [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1063-1071.
[14] Li⁃bin ZHANG,Dao WU,Hong⁃ying SHAN,Xiang⁃jing DENG. Design of axle load self⁃adjusting system for multi⁃axle vehicle based on brake tester [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1081-1091.
[15] Shou⁃tao LI,Qiu⁃yuan LI,Hui LIU,Hui DING,Yan⁃tao TIAN,Ding⁃li YU. Sliding mode variable structure strategy for vehicle stability control [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1288-1292.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd