基于驾驶员起步意图的AMT控制方法研究
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摘要
电控机械式自动变速器（AMT）在总体传动结构不变的情况下通过加装微机控制的自动操纵系统来实现换挡的自动化。发展AMT技术对于节约能源，减少污染，提高行车安全等具有重大的现实意义，AMT的可行性已经过大量的试验论证，将其作为国内自动变速研究开发的重点并尽早实现产业化已得到广泛的认同。而起步控制一直是AMT系统控制的重点和难点。
本文在分析发动机模型、离合器模型、整车模型和执行机构模型的基础上，建立AMT系统动力学模型，为AMT起步控制策略的实现提供了平台和依据。
为了使AMT系统能够识别驾驶员的不同起步意图，对起步意图进行了重点研究。根据正交试验设计方法，量化油门开度、油门开度一阶导数及二阶导数对起步意图的影响，并利用隐马尔可夫模型（Hidden Markov Model，HMM）对快速起步、中速起步和慢速起步三种起步意图进行建模与识别。
在识别起步意图的基础上，研究不同起步意图下的离合器最优控制及实现。从系统综合的角度出发，基于极小值原理，优化滑摩功、冲击度、发动机转矩、发动机角加速度，得到以解析形式表达的最优控制量和最佳轨线。以油门开度、油门开度的一阶导数和二阶导数为输入，以量化的冲击度为输出，建立起步阶段冲击度量化模糊推理模型，并以此将驾驶员起步意图和离合器最优控制过程结合在一起，从而实现不同起步意图下离合器的最优控制。根据发动机转速和转矩的最优轨线，可以得到最优的理想油门开度曲线。该理想油门开度曲线既可以反映驾驶员的起步意图，也符合离合器的最优控制过程。
离合器的滑摩情况可由滑摩功来评价，但滑摩过程中引起的磨损却无法量化，为了进一步研究离合器接合过程中的磨损机理，定量描述磨损深度，从粘着磨损理论出发，结合M-B分形接触模型，建立离合器稳定磨损阶段的磨损模型，从而得到最优接合过程中离合器每次接合的平均磨损深度率表达式，以此来进行离合器磨损的动态优化。
为了验证起步意图模型的准确性及对不同类型驾驶员的适应性，利用采集工具CANcaseXL和CANape，对不同类型驾驶员起步过程中的油门开度和车速数据进行采集研究。实验结果表明，综合不同类型驾驶员的起步意图HMM模型可以较好的识别和适应不同类型驾驶员的起步意图。
本文的研究对掌握AMT起步控制关键技术，加快其产业化进程具有重要的促进意义。
As an increasing application of automatic transmissions, automatedmechanical transmission (AMT) adding an inexpensive control unit toclassical manual transmissions is considered as a mean of reducing fuelcost, easing driver task, and thus meeting driver's expectations. Massiveexperiments have confirmed the feasibility of AMT, which is a focalpoint in domestic automatic transmission research and development andis worthy to be industrialized. However, control of vehicle launch isalways the emphasis and difficulty for the control of AMT.
A dynamic model for the driveline of AMT is proposed on the basis ofengine model, clutch model, vehicle model and actuator model. Thepresented model can provide platform for the simulation and control ofAMT system.
The research interest is focused on a driver's starting intentions inorder to make AMT system recognize different kinds of startingintentions. An orthogonal test design is applied to treat the variables andtheir combinations for the driver's decision making during launching thevehicle. The influences of the pedal opening, the first derivative of thepedal opening, and the second derivative of the pedal opening arequantified. According to these factors, a hidden Markov model (HMM)is used to model and recognize three different kinds of starting intentions,including fast starting, mild starting and slow starting.
This paper explores association between driver's starting intentionsand control of dry clutch engagement during vehicle launch in order todevelop an intelligent automated mechanical transmission system. Theoptimal engagement laws are deduced by finding a compromise among friction loss, shock intensity, engine torque and engine angularacceleration, based upon the extremum value theorem. The pedalopening, the first derivative of the pedal opening and the secondderivative of the pedal opening are chosen as the input while the shockintensity as the output in fuzzy control. According to the optimal engineangular speed and engine torque, the optimal accelerator opening isobtained from engine steady output torque model. The optimalaccelerator opening reflects driver's starting intentions correctly andsatisfies the optimal control of clutch engagement.
Clutch slipping can be evaluated by slipping work, but the wearduring slipping can not be quantified. Thus, this paper explores wearmechanism and dynamic optimization of the dry clutch during slipping.A wear model for wear evaluation during the steady stage of wear isproposed based on fractal theory, adhesive wear theory andMajumdar-Bhushan Fractal Contact Model. The expression of the rate ofwear depth for each engagement during the optimal control of clutchengagement is deduced in order to realize the dynamic optimization.
In order to verify the accuracy and adaptability of the startingintentions models for different kinds of drivers, an experimental studyon the starting intentions is carried out by the hardware CANcaseXL andthe software CANape. The experiment interest is focused on datacollection of accelerator opening and vehicle speed of different kinds ofdrivers. The results show that the HMM model has good accuracy andadaptability for the starting intentions of different kinds of drivers.
The study presented in this paper plays an important role in the keytechniques during vehicle launch of AMT, and it is significant topromote the industrialization of AMT.
本文在分析发动机模型、离合器模型、整车模型和执行机构模型的基础上，建立AMT系统动力学模型，为AMT起步控制策略的实现提供了平台和依据。
为了使AMT系统能够识别驾驶员的不同起步意图，对起步意图进行了重点研究。根据正交试验设计方法，量化油门开度、油门开度一阶导数及二阶导数对起步意图的影响，并利用隐马尔可夫模型（Hidden Markov Model，HMM）对快速起步、中速起步和慢速起步三种起步意图进行建模与识别。
在识别起步意图的基础上，研究不同起步意图下的离合器最优控制及实现。从系统综合的角度出发，基于极小值原理，优化滑摩功、冲击度、发动机转矩、发动机角加速度，得到以解析形式表达的最优控制量和最佳轨线。以油门开度、油门开度的一阶导数和二阶导数为输入，以量化的冲击度为输出，建立起步阶段冲击度量化模糊推理模型，并以此将驾驶员起步意图和离合器最优控制过程结合在一起，从而实现不同起步意图下离合器的最优控制。根据发动机转速和转矩的最优轨线，可以得到最优的理想油门开度曲线。该理想油门开度曲线既可以反映驾驶员的起步意图，也符合离合器的最优控制过程。
离合器的滑摩情况可由滑摩功来评价，但滑摩过程中引起的磨损却无法量化，为了进一步研究离合器接合过程中的磨损机理，定量描述磨损深度，从粘着磨损理论出发，结合M-B分形接触模型，建立离合器稳定磨损阶段的磨损模型，从而得到最优接合过程中离合器每次接合的平均磨损深度率表达式，以此来进行离合器磨损的动态优化。
为了验证起步意图模型的准确性及对不同类型驾驶员的适应性，利用采集工具CANcaseXL和CANape，对不同类型驾驶员起步过程中的油门开度和车速数据进行采集研究。实验结果表明，综合不同类型驾驶员的起步意图HMM模型可以较好的识别和适应不同类型驾驶员的起步意图。
本文的研究对掌握AMT起步控制关键技术，加快其产业化进程具有重要的促进意义。
As an increasing application of automatic transmissions, automatedmechanical transmission (AMT) adding an inexpensive control unit toclassical manual transmissions is considered as a mean of reducing fuelcost, easing driver task, and thus meeting driver's expectations. Massiveexperiments have confirmed the feasibility of AMT, which is a focalpoint in domestic automatic transmission research and development andis worthy to be industrialized. However, control of vehicle launch isalways the emphasis and difficulty for the control of AMT.
A dynamic model for the driveline of AMT is proposed on the basis ofengine model, clutch model, vehicle model and actuator model. Thepresented model can provide platform for the simulation and control ofAMT system.
The research interest is focused on a driver's starting intentions inorder to make AMT system recognize different kinds of startingintentions. An orthogonal test design is applied to treat the variables andtheir combinations for the driver's decision making during launching thevehicle. The influences of the pedal opening, the first derivative of thepedal opening, and the second derivative of the pedal opening arequantified. According to these factors, a hidden Markov model (HMM)is used to model and recognize three different kinds of starting intentions,including fast starting, mild starting and slow starting.
This paper explores association between driver's starting intentionsand control of dry clutch engagement during vehicle launch in order todevelop an intelligent automated mechanical transmission system. Theoptimal engagement laws are deduced by finding a compromise among friction loss, shock intensity, engine torque and engine angularacceleration, based upon the extremum value theorem. The pedalopening, the first derivative of the pedal opening and the secondderivative of the pedal opening are chosen as the input while the shockintensity as the output in fuzzy control. According to the optimal engineangular speed and engine torque, the optimal accelerator opening isobtained from engine steady output torque model. The optimalaccelerator opening reflects driver's starting intentions correctly andsatisfies the optimal control of clutch engagement.
Clutch slipping can be evaluated by slipping work, but the wearduring slipping can not be quantified. Thus, this paper explores wearmechanism and dynamic optimization of the dry clutch during slipping.A wear model for wear evaluation during the steady stage of wear isproposed based on fractal theory, adhesive wear theory andMajumdar-Bhushan Fractal Contact Model. The expression of the rate ofwear depth for each engagement during the optimal control of clutchengagement is deduced in order to realize the dynamic optimization.
In order to verify the accuracy and adaptability of the startingintentions models for different kinds of drivers, an experimental studyon the starting intentions is carried out by the hardware CANcaseXL andthe software CANape. The experiment interest is focused on datacollection of accelerator opening and vehicle speed of different kinds ofdrivers. The results show that the HMM model has good accuracy andadaptability for the starting intentions of different kinds of drivers.
The study presented in this paper plays an important role in the keytechniques during vehicle launch of AMT, and it is significant topromote the industrialization of AMT.
引文
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