电磁多片式离合器扭矩分配控制数学模型构建研究
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摘要
电磁多片式离合器中的电磁控制单元直接决定了四驱汽车动力分配范围.为研究电磁多片式离合器对整车动力分配性能的影响,必须建立其动力学模型,否则无法对电磁多片式离合器进行精确控制,也不能为整车控制提供有效的输入参数.文章针对这一问题,首先建立了基于电磁学和系统动力学的电磁多片式离合器力学模型,并与整车7自由度动力学模型相结合,通过Matlab/Simulink构建电磁多片式离合器四驱汽车动力学模型.其次以线性2自由度半车模型作为参考对象,运用神经网络PID优化扭矩分配控制系统,研究不同路面、不同车速和转向工况下电流的变化对电磁多片式离合器参与的扭矩分配对整车的转速差、车速、质心侧偏角及横摆角速度的影响规律.仿真结果表明:电磁多片式离合器的扭矩输出和电流大小成正比例关系,可以在0.5s时间内对转速差进行控制,保证整车车速,同时实现期望的质心侧偏角及横摆角速度.最后通过试验车进行验证得到仿真分析和试验数据符合良好,表明建立的电磁多片式离合器整车动力学模型的有效性,为电磁多片式离合器控制的四驱传动设计提供了理论依据.
The power distribution clutch.range of a 4WD vehicle is directly depends on the electromagnetic model,control can unit of its the electromagnetic electromagnetic multi-plate multi-plate the To study their relation,provide it essential input to build a dynamical since one hardly control build clutch accurately or valid based variables to the vehicle.and In this article,we firstly a mechanical model of electromagnetic degree multi-plate clutch vehicle,on a electromagnetics model system dynamics,which,together with the dynamics Next,model apply torque(7 of freedom)of the forms for to the torque distribution mechanism in Matlab/Simulink.we of neural network to the linear 2-dof half vehicle model optimize torque distribution and control rate,system,and study the effect distribution caused on the rotational change speed difference,vehicle the speed,sideslip angle yaw clutch where the change of torque distribution is by of electric current results control and in electromagnetic multi-plate under different pavements,clutch vehicle direct speeds and steering situations.The and simulation show that the output torque of in electromagnetic multi-plate maintain is that in proportion and to the electric current,value that it can rotational rate.speed difference compare less data than 0.5s,from the vehicle speed,achieve the and expected find of sideslip angle thus yaw Finally,we the obtained can a real vehicle to of the simulation,them well matched,confirm our simulation model to be valid.It provide theory basis for four-wheel drive transmission design of electromagnetic multi-plate clutch.
The power distribution clutch.range of a 4WD vehicle is directly depends on the electromagnetic model,control can unit of its the electromagnetic electromagnetic multi-plate multi-plate the To study their relation,provide it essential input to build a dynamical since one hardly control build clutch accurately or valid based variables to the vehicle.and In this article,we firstly a mechanical model of electromagnetic degree multi-plate clutch vehicle,on a electromagnetics model system dynamics,which,together with the dynamics Next,model apply torque(7 of freedom)of the forms for to the torque distribution mechanism in Matlab/Simulink.we of neural network to the linear 2-dof half vehicle model optimize torque distribution and control rate,system,and study the effect distribution caused on the rotational change speed difference,vehicle the speed,sideslip angle yaw clutch where the change of torque distribution is by of electric current results control and in electromagnetic multi-plate under different pavements,clutch vehicle direct speeds and steering situations.The and simulation show that the output torque of in electromagnetic multi-plate maintain is that in proportion and to the electric current,value that it can rotational rate.speed difference compare less data than 0.5s,from the vehicle speed,achieve the and expected find of sideslip angle thus yaw Finally,we the obtained can a real vehicle to of the simulation,them well matched,confirm our simulation model to be valid.It provide theory basis for four-wheel drive transmission design of electromagnetic multi-plate clutch.
引文
1 Ompusunggu A P,Sas P,Van Brussel H.Modeling and simulation of the engagement dynamics of a wet friction clutch system subjected to degradation:An application to condition monitoring and prognostics.Mechatronics,2013,23:700-712
2 Lee H.Four-wheel drive control system using a clutchless centre limited slip differential.Proc Inst Mech Eng Part D-J Automob Eng,2006,220:665-681
3 Morselli R,Zanasi R,Sandoni G.Detailed and reduced dynamic models of passive and active limited-slip car differentials.Math Comp Modell Dyn Syst,2006,12:347-362
4陈黎卿,胡冬宝,陈无畏.基于人群搜索算法的四驱汽车扭矩分配控制策略.农业机械学报,2015,45:369-376
5 Ando H,Murakami T.AWD vehicle simulation with the intelligent torque controlled coupling as a fully controllable AWD system.SAE Technical Paper,2005,doi:10.4271/2005-01-0552
6 Ando J,Saito T,Sakai N,et al.Development of compact,high capacity AWD coupling with DLC-Si coated electromagnetic clutch.SAE Technical Paper,2006,doi:10.4271/2006-01-0820
7 Kopp T,Pritchard L A.Beyond driveline disconnect--the ultimate on-demand dry sump RDM system with PTU disconnect.SAE Technical Paper,2015,doi:10.4271/2015-01-1099
8 Post B,Kang X,Klaus T.The influence of direct yaw control AWD systems on vehicle stability and response in all driving conditions.SAE Int J Passeng Cars-Mech Syst,2008,1:504-513
9 Tremlett A J,Assadian F,Purdy D J,et al.Quasi-steady-state linearisation of the racing vehicle acceleration envelope:A limited slip differential example.Vehicle Syst Dyn,2014,52:1416-1442
10 Duan S,Ni J,Ulsoy A G.Modeling and control of an automotive all-wheel drive clutch as a piecewise affine system.J Dyn Sys Meas Control,2014,136:011008
11 Lew J,Piyabongkarn D,Grogg J.Minimizing dynamic rollover propensity with electronic limited slip differentials.SAE Technical Paper,2006,doi:10.4271/2006-01-1279
12 Vantsevich V,Augsburg K,Shyrokau B,et al.Kinematic discrepancy minimization for AWD terrain vehicle dynamics control.SAE Technical Paper,2010,doi:10.4271/2010-01-1895
13 Hrgetic M,Deur J,Ivanovic V,et al.Vehicle sideslip angle EKF estimator based on nonlinear vehicle dynamics model and stochastic tire forces modeling.SAE Int J Passeng Cars-Mech Syst,2014,7:86-95
14 Kirk M P,D’Anna T,Seldon W,et al.Development of a standard spin loss test procedure for FWD-based power transfer units.SAE Int J Passeng Cars-Mech Syst,2013,6:552-567
15 Kirk M P,Ilyas S M,D’Anna T,et al.Development of a standard spin loss test procedure for 4WD transfer cases.SAE Technical Paper,2012,doi:10.4271/2012-01-0306
16 Ando J,Tsuda T,Ando H,et al.Development of third-generation electronically controlled AWD coupling with new high-performance electromagnetic clutch.SAE Int J Passeng Cars-Mech Syst,2014,7:882-887
17 Yamaguchi T,Ando J,Tsuda T,et al.Sliding velocity dependency of the friction coefficient of Si-containing diamond-like carbon film under oil lubricated condition.Tribology Int,2011,44:1296-1303
18 Ando J,Sakai N,Nishi K,et al.Development of exclusive fluid for AWD coupling.Jpn Soc Autom Eng Rev,2008,29:89-95
19 Hoic M,Herold Z,Kranjcevic N,et al.Experimental characterization and modeling of dry dual clutch thermal expansion effects.SAE Int JPasseng Cars-Mech Syst,2013,6:775-785
20 Ivanovic V,Herold Z,Deur J,et al.Experimental characterization of wet clutch friction behaviors including thermal dynamics.SAE Int J Engines,2009,2:1211-1220
21 Ivanovic V,Herold Z,Deur J.Experimental setups for active limited slip differential dynamics research.SAE Technical Paper,2008,doi:10.4271/2008-01-0302
22 Ivanovic V,Deur J,Herold Z,et al.Modelling of electromechanically actuated active differential wet-clutch dynamics.Proc Inst Mech Eng Part D-J Automob Eng,2012,226:433-456
23陈无畏,王其东,肖寒松,等.汽车系统动力学与集成控制.北京:科学出版社,2014
2 Lee H.Four-wheel drive control system using a clutchless centre limited slip differential.Proc Inst Mech Eng Part D-J Automob Eng,2006,220:665-681
3 Morselli R,Zanasi R,Sandoni G.Detailed and reduced dynamic models of passive and active limited-slip car differentials.Math Comp Modell Dyn Syst,2006,12:347-362
4陈黎卿,胡冬宝,陈无畏.基于人群搜索算法的四驱汽车扭矩分配控制策略.农业机械学报,2015,45:369-376
5 Ando H,Murakami T.AWD vehicle simulation with the intelligent torque controlled coupling as a fully controllable AWD system.SAE Technical Paper,2005,doi:10.4271/2005-01-0552
6 Ando J,Saito T,Sakai N,et al.Development of compact,high capacity AWD coupling with DLC-Si coated electromagnetic clutch.SAE Technical Paper,2006,doi:10.4271/2006-01-0820
7 Kopp T,Pritchard L A.Beyond driveline disconnect--the ultimate on-demand dry sump RDM system with PTU disconnect.SAE Technical Paper,2015,doi:10.4271/2015-01-1099
8 Post B,Kang X,Klaus T.The influence of direct yaw control AWD systems on vehicle stability and response in all driving conditions.SAE Int J Passeng Cars-Mech Syst,2008,1:504-513
9 Tremlett A J,Assadian F,Purdy D J,et al.Quasi-steady-state linearisation of the racing vehicle acceleration envelope:A limited slip differential example.Vehicle Syst Dyn,2014,52:1416-1442
10 Duan S,Ni J,Ulsoy A G.Modeling and control of an automotive all-wheel drive clutch as a piecewise affine system.J Dyn Sys Meas Control,2014,136:011008
11 Lew J,Piyabongkarn D,Grogg J.Minimizing dynamic rollover propensity with electronic limited slip differentials.SAE Technical Paper,2006,doi:10.4271/2006-01-1279
12 Vantsevich V,Augsburg K,Shyrokau B,et al.Kinematic discrepancy minimization for AWD terrain vehicle dynamics control.SAE Technical Paper,2010,doi:10.4271/2010-01-1895
13 Hrgetic M,Deur J,Ivanovic V,et al.Vehicle sideslip angle EKF estimator based on nonlinear vehicle dynamics model and stochastic tire forces modeling.SAE Int J Passeng Cars-Mech Syst,2014,7:86-95
14 Kirk M P,D’Anna T,Seldon W,et al.Development of a standard spin loss test procedure for FWD-based power transfer units.SAE Int J Passeng Cars-Mech Syst,2013,6:552-567
15 Kirk M P,Ilyas S M,D’Anna T,et al.Development of a standard spin loss test procedure for 4WD transfer cases.SAE Technical Paper,2012,doi:10.4271/2012-01-0306
16 Ando J,Tsuda T,Ando H,et al.Development of third-generation electronically controlled AWD coupling with new high-performance electromagnetic clutch.SAE Int J Passeng Cars-Mech Syst,2014,7:882-887
17 Yamaguchi T,Ando J,Tsuda T,et al.Sliding velocity dependency of the friction coefficient of Si-containing diamond-like carbon film under oil lubricated condition.Tribology Int,2011,44:1296-1303
18 Ando J,Sakai N,Nishi K,et al.Development of exclusive fluid for AWD coupling.Jpn Soc Autom Eng Rev,2008,29:89-95
19 Hoic M,Herold Z,Kranjcevic N,et al.Experimental characterization and modeling of dry dual clutch thermal expansion effects.SAE Int JPasseng Cars-Mech Syst,2013,6:775-785
20 Ivanovic V,Herold Z,Deur J,et al.Experimental characterization of wet clutch friction behaviors including thermal dynamics.SAE Int J Engines,2009,2:1211-1220
21 Ivanovic V,Herold Z,Deur J.Experimental setups for active limited slip differential dynamics research.SAE Technical Paper,2008,doi:10.4271/2008-01-0302
22 Ivanovic V,Deur J,Herold Z,et al.Modelling of electromechanically actuated active differential wet-clutch dynamics.Proc Inst Mech Eng Part D-J Automob Eng,2012,226:433-456
23陈无畏,王其东,肖寒松,等.汽车系统动力学与集成控制.北京:科学出版社,2014