基于逆系统方法的直驱式AMT换挡控制方法  

Gearshift Control of Direct-drive AMT Gearshift System Based on Inverse System Method

作　　者：林树森[1] 焦卫东[1] 曹振新[1] 吴江妙[1] 张兰春[2] 

机构地区：[1]浙江师范大学工学院,金华321004 [2]江苏理工学院汽车与交通工程学院,常州213001

出　　处：《农业机械学报》2015年第6期303-309,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(51305175);浙江省杰出青年科学基金资助项目(R1100002);浙江省科技计划资助项目(2013C31110)

摘　　要：为提高直驱式AMT换挡品质的稳定性,针对2自由度电磁执行器的特性引入逆系统控制方法。阐述了执行器的结构及工作原理,通过建模分析了执行器参数耦合现象,执行器静态特性测试表明其输出特性具有非线性的特点。引入逆系统方法并分析系统的可逆性,建立执行器的伪线性系统并根据线性系统理论设计状态反馈控制器。扩张状态观测器的引入提高了系统在摩擦阻力时变条件下的输出特性稳定性。仿真与试验结果表明,基于逆系统方法的换挡控制受参数变化影响小,位移控制精度较高,执行器输出特性较为稳定,基于逆系统方法的直驱式AMT换挡性能较为突出,有利于提升AMT竞争力。To improve the shift performance stability of the direct-drive automated manual transmission（ AMT） gearshift system,inverse system method（ ISM） was introduced according to the characteristics of2-DOF electromagnetic actuator. The structure and working principle of the actuator were described,and the analysis of the mathematical model indicated that the parameters of the actuator affected each other.Static characteristics experiments proved that the output characteristics were nonlinear. The reversibility of the system was analyzed and ISM was adopted to build the pseudo-linear system,and the state feedback controller was designed according to the linear system theory. Extended state observer（ ESO）was added to weaken the influence of time varying friction force to the stability of the output characteristics. The simulation and experiment results indicate that controlled by the ISM-ESO controller,the gearshift performance is robust to variable parameters. The precision of displacement control is better.The stability of the output characteristics is improved. Based on the inverse system method,the gearshift performance of the direct-drive automated manual transmission is relatively excellent,and it is conducive to improve the competitiveness of AMT.

关 键 词：电控机械式自动变速器 直驱 换挡控制 逆系统 扩张状态观测器 

分 类 号：U463.212[机械工程—车辆工程]