一种新型电动汽车换挡位移约束跟踪控制  

A novel displacement constraint tracking control of electric vehicle gearshift

作　　者：张琰 赵韩[1] 邱明明[1] 秦菲菲 Zhang Yan;Zhao Han;Qiu Mingming;Qin Feifei(School of Mechanical Engineering,Hefei University of Technology,230009,Hefei,China)

机构地区：[1]合肥工业大学机械工程学院,合肥230009

出　　处：《应用力学学报》2020年第4期1381-1389,I0001,共10页Chinese Journal of Applied Mechanics

基　　金：新能源汽车国家重点研发计划(2017YFB0103201,2017YFB0103204)。

摘　　要：针对同步器位移约束跟踪控制问题,基于一款新型电动汽车集成电驱系统,提出了一种新颖的控制方法。对该电驱系统换挡机构及换挡过程进行了动力学建模;将同步器结合套的结合规律看作一种位移约束,利用Udwadia-Kalaba方法在不引入Lagrange乘子等参数的情况下对约束力进行了求解;利用Udwadia-Kalaba方法与PID方法的加权设计了一种同步器换挡位移跟踪控制器;通过Matlab设计进行了多组仿真,并完成了实车验证试验。仿真与试验结果显示:在该控制器作用下,同步器结合轨迹能够较好地完成目标轨迹跟踪;与传统PID方法相比,新控制器具有较强的跟踪控制动态特性、较高的稳态精度和较小的冲击度,累计跟踪误差仿真结果减少25%以上,位移约束跟踪误差试验结果在4%以内。并且针对不同换挡目标约束可以有效完成目标轨迹跟踪,从而有效地提高换挡品质。Aiming at the problem of synchronizer displacement constraint tracking control,based on a new integrated electric drive system for electric vehicle,a novel approach for synchronizer displacement control is proposed.Firstly,by analyzing the structure of synchronizer and shifting process,a dynamic model is established.Secondly,the engagement rule of synchronizer combination sleeve is treated as a kind of displacement constraint,and the constraint force could be obtained by the Udwadia-Kalaba method without using Lagrange multiplier or other auxiliary variables.Then a shifting displacement tracking manipulator is designed by a weighted approach of Udwadia-Kalaba method and PID method.Several groups of simulations are carried out through Matlab,and vehicle test is also completed for further verification.Results show that the joint trajectory of the synchronizer can track the target trajectory well with high dynamic characteristics and steady-state accuracy,and also with less shift shock compared with the traditional PID method.The simulation result of cumulative tracking error is reduced by more than 25%,and the test result of displacement constraint tracking error is within 4%.Moreover,the target trajectory tracking can be effectively accomplished with different constraints on shifting targets,which can effectively and emphatically improve the shifting quality.

关 键 词：汽车工程 传动系统 约束跟踪控制 Udwadia-Kalaba方法 机械动力学 

分 类 号：U463.2[机械工程—车辆工程]