基于极小值原理的AMT车辆起步最优协调控制策略  

Optimal Coordinating Control Strategy for Vehicle Launching with AMT Based on the Minimum Principle

作　　者：赵克刚[1] 宁武林 叶杰[1] ZHAO Kegang;NING Wulin;YE Jie(National-Local Joint Engineering Laboratory of Automobile Parts Technology,South China University of Technology,Guangzhou 510640,China)

机构地区：[1]华南理工大学汽车零部件技术国家地方联合工程实验室,广州510640

出　　处：《重庆理工大学学报（自然科学）》2021年第2期17-25,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：广东省自然科学基金项目(2020A1515010773)。

摘　　要：结合AMT车辆的起步动力学模型,以滑摩功、冲击度和控制能量等的加权和作为优化目标,在反应驾驶者起步意图的终端约束条件下,基于极小值原理将起步过程的发动机与离合器的最优协调控制问题转化为微分方程组的边值问题。通过求解微分方程组的边值问题获得起步过程中的最优控制和状态变量轨迹曲线的解析表达式,并与基于打靶法求解得到的最优轨迹曲线的数值解进行对比,两者基本吻合一致。在仿真工况下,前者的计算时长仅为后者的1/49,更适于实时控制系统中的应用。基于快速原型控制器Rapid-ECU-UIM和Simulink/RTW平台搭建了AMT车辆起步控制的硬件在环仿真试验平台,并将基于极小值原理解析求解得到的最优协调控制策略应用于试验平台中,仿真试验结果验证了所提出的最优协调控制策略的有效性和实时性。Based on the analysis of dynamic model of the vehicle with AMT during launching process,the optimal coordinating control problem between the engine and the friction clutch is transferred into the differential boundary value equations based on the Minimum Principle.During the transformation process,the weighted sum of friction work,jerk and control variables are introduced as the objective function,and the driver’s launching intention is reflected by the terminal constraints.Then,the analytical expressions of the optimal control and state variables’trajectories are obtained by solving the boundary value problem.The numerical solutions of the optimal control and state variables’trajectories are also obtained based on the shooting method.The analytical and numerical results are consistent,but the calculating time by the Minimum Principle is just 1/49 of that by the shooting method.It indicates the former method is more suitable for the application in real-time control systems.The hardware-in-the-loop simulation platform is established based on the Rapid-ECU-UIM and the Simulink/RTW toolbox to test the launching control strategy of the vehicle with AMT.The test results indicate that the proposed optimal coordinating control strategy has a good feasibility and effectiveness.

关 键 词：起步控制 最优协调控制策略 极小值原理 硬件在环仿真 

分 类 号：U463.22[机械工程—车辆工程]