适时四驱系统分动器离合器精确位置控制研究  

Research on transfer case clutch accurate position control of on-demand four-wheel drive systems

作　　者：黄昌尧 刘振宇 张志煌 李亮[1] 王翔宇 HUANG ChangYao;LIU ZhenYu;ZHANG ZhiHuang;LI Liang;WANG XiangYu(State Key Lab of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China;China FAW Group Co.,Ltd.,Changchun 130013,China)

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084 [2]中国第一汽车技术集团有限公司,长春130013

出　　处：《中国科学：技术科学》2023年第1期127-138,共12页Scientia Sinica(Technologica)

基　　金：国家自然科学科学基金(批准号:52102440);博士后创新人才支持计划(编号:BX20200184)资助项目。

摘　　要：四驱车辆相比两驱车辆在操纵稳定性及动力性方面具有优势.适时四驱系统因结构简单、成本较低,目前已得到广泛应用.本研究中的适时四驱系统核心部件为基于电控多片式湿式离合器的分动器,其执行器为永磁同步电机驱动的蜗轮蜗杆与螺旋增力机构.执行器可以控制离合器压盘位置进而改变传递至前轴的驱动转矩大小,而前轴转矩的调节显著影响操纵稳定性与动力性,因此分动器离合器的精确位置控制具有重要意义.首先,本文建立了永磁同步电机执行器系统与负载的模型,为控制器的设计提供基础.然后,基于模型设计了用于电流跟踪控制和位置跟踪控制的显式模型预测控制器.最后,进行了典型工况位置跟踪仿真和试验.结果表明,所提出的位置控制算法能够达到1%的相对精度,能够满足适时四驱系统实时在线高精度位置控制的需求.The on-demand four-wheel-drive system has been widely used because of its simple structure and low cost.The core component of the on-demand four-wheel-drive system in this study is a transfer case based on an electronically controlled multi-plate wet clutch.Its actuator consists of a worm gear driven by a permanent magnet synchronous motor and a helical booster mechanism.The actuator can control the position of the clutch pressure plate to change the drive torque transmitted to the front axle,and adjusting the front axle torque significantly affects the handling stability and dynamics.Therefore,the precise position control of the transfer clutch is of great significance.In this paper,a model of the PMSM actuator system and load is first established,which provides the basis for the design of the controller.Then,explicit model predictive controllers for current tracking control and position tracking control are designed based on the model.Finally,typical working condition position tracking simulations and experiments are carried out.The results show that the proposed position control algorithm can achieve relative accuracy of 1%,which can meet the requirements of the realtime online high-precision position control of an on-demand four-wheel-drive system.

关 键 词：适时四驱系统 分动器 离合器 位置控制 显式模型预测控制 

分 类 号：U463.211[机械工程—车辆工程]