液压机械无级变速器的变论域模糊PID 速比跟踪控制
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摘要
为提高液压机械无级变速器速比跟踪控制效果,设计了基于量化因子和决策因子伸缩变化的变论域模糊PID控制器。通过分析液压机械无级变速器的速比特性和系统数学模型,建立基于AMESim和MATLAB联合的仿真平台,并通过实验平台验证了仿真模型的正确性。对比了变论域模糊PID和常规模糊PID的仿真效果。仿真结果表明:变论域模糊PID控制器在阶跃信号输入下具有更小的超调量和调整时间,在斜坡和正弦信号输入下速比跟踪误差缩小了约50%,即所设计的变论域模糊PID控制器具有更优的速比跟踪效果和更小的速比跟踪误差,表现出了更优的控制效果和动态品质。研究结果为车辆的最佳燃油经济性和最佳动力性的控制策略提供了理论参考。
In order to optimize speed ratio follow-up control effects of HMCVT, a variable universe fuzzy PID controller was designed based on the expansions of quantizing factors and decision-making factors. The speed ratio characteristics and the mathematical model of HMCVT were analyzed. A simulation model of HMCVT was established based on AMESim and MATLAB, and the simulation model was verified by the experimental platform. Simulation control effectivenesses between the variable universe fuzzy PID controller and fuzzy PID controller were compared. Simulation results show that the variable universe fuzzy PID controller has smaller exceeding value, shorter adjusting time in step single inputs, and the speed ratio follow-up tracking errors are reduced about 50% in ramp signal inputs and sine signal inputs. The variable universe fuzzy PID controller has more superior speed ratio follow-up control effectiveness and smaller speed ratio follow-up tracking errors, which presents better control effectiveness and dynamic quality. The research provides a theoretical reference for the control strategy of optimal fuel economy and optimal power performance of vehicles.
In order to optimize speed ratio follow-up control effects of HMCVT, a variable universe fuzzy PID controller was designed based on the expansions of quantizing factors and decision-making factors. The speed ratio characteristics and the mathematical model of HMCVT were analyzed. A simulation model of HMCVT was established based on AMESim and MATLAB, and the simulation model was verified by the experimental platform. Simulation control effectivenesses between the variable universe fuzzy PID controller and fuzzy PID controller were compared. Simulation results show that the variable universe fuzzy PID controller has smaller exceeding value, shorter adjusting time in step single inputs, and the speed ratio follow-up tracking errors are reduced about 50% in ramp signal inputs and sine signal inputs. The variable universe fuzzy PID controller has more superior speed ratio follow-up control effectiveness and smaller speed ratio follow-up tracking errors, which presents better control effectiveness and dynamic quality. The research provides a theoretical reference for the control strategy of optimal fuel economy and optimal power performance of vehicles.
引文
[1] 胡纪滨,魏超,杜玖玉,等.液压机械无级变速器速比跟踪控制系统研究[J].北京理工大学学报,2008,28(6):481-485.HU Jibin,WEI Chao,DU Jiuyu,et al.A Study on the Speed Ratio Follow-up Control System of Hydro-mechanical Transmission [J].Transactions of Beijing Institute of Technology,2008,28(6):481-485.
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[8] 魏超,苑士华,胡纪滨,等.等差式液压机械无级变速器的速比控制理论与试验研究[J].机械工程学报,2011,47(16):101-105.WEI Chao,YUAN Shihua,HU Jibin,et al.Theoretical and Experimental Investigation of Speed Ratio Follow-up Control System on Geometric Type Hydro-mechanical Transmission[J].Chinese Journal of Mechanical Engineering,2011,47(16):101-105.
[9] AHN S,CHOI J,KIM S,et al.Development of an Integrated Engine-hydro-mechanical Transmission Control Algorithm for a Tractor[J].Advances in Mechanical Engineering ,2015,7(7):29-32.
[10] 张明柱.拖拉机多段液压机械无级变速器控制策略研究[D].西安:西安理工大学,2007.ZHANG Mingzhu.Control Strategy Development for Multi-range Hydro-mechanical Continuously Variable Transmission in Tractors.[D].Xi’an:Xi’an University of Technology,2007.
[11] 李丽娜,柳洪义,罗忠,等.模糊PID复合控制算法改进及应用[J].东北大学学报,2009,30(2):274-278.LI lina,LIU Hongyi,LUO Zhong,et al.Study on Improved Fuzzy-PID Composite Control Arithmetics and Its Application[J].Journal of Northeastern University,2009,30(2):274-278.
[12] 王大勇,王慧.基于变论域模糊控制的车辆半主动悬架控制方法[J].中国机械工程,2017,28(3):366-372.WANG Dayong,WANG Hui.Control Method of Vehicle Semi Active Suspensions Based on Variable Universe Fuzzy[J].China Mechanical Engineering,2017,28(3):366-372.
[13] 郭占正,苑士华,荆崇波,等.基于AMESim的液压机械无级传动换段过程建模与仿真[J].农业工程学报,2009,25(10):86-91.GUO Zhanzheng,YUAN Shihua,JING Chongbo,et al.Modeling and Simulation of Shifting Process in Hydraulic Machinery Stepless Transmission Based on AMESim[J].Transactions of the CSAE,2009,25(10):86-91.
[2] 徐立友,周志立,彭巧励,等.多段式液压机械无级变速器方案设计与特性分析[J].中国机械工程,2012,23(21):2641-2645.XU Liyou,ZHOU Zhili,PENG Qiaoli,et al.Drive Scheme Design and Characteristic Analysis of Multi-range Hydro-mechanical CVT[J].China Mechanical Engineering,2012,23(21):2641-2645.
[3] MACOR A,ROSSETTI A.Optimization of Hydro-mechanical Power Split Transmission [J].Mechanism and Machine Theory,2011,46(12):1901-1919.
[4] 于今,白建军,黄国勤.混合式液压-机械无级传动方案设计及特性研究[J].机械传动,2017,41(3):58-63.YU Jin,BAI Jianjun,HUANG Guoqin.Characteristic Study and Transmission Scheme Design of Compound Coupled HMCVT [J].Journal of Mechanical Transmission,2017,41(3):58-63.
[5] 杜玖玉,苑士华,魏超,等.双模式液压机械传动工作特性分析[J].农业工程学报,2009,25(4):86-90.DU Jiuyu,YUAN Shihua,WEI Chao,et al.Performance Analysis of Dual Mode Hydro-mechanical Transmission [J].Transactions of the CSAE,2009,25(4):86-90.
[6] 徐立友.拖拉机液压机械无级变速器特性研究[D].西安:西安理工大学,2007.XU Liyou.Study on Characteristics of Hydro-mechanical Continuously Variable Transmission of Tractor [D].Xi’an:Xi’an University of Technology,2007.
[7] 栾文博,周云山.金属带式无级变速器Fuzzy-PI复合速比控制系统研究[J].汽车工程,2010,32(9):778-782.LUAN Wenbo,ZHOU Yunshan.A Research on Fuzzy-PI Compound Speed Ratio Control System for Metal V-belt Continuously Variable Transmission[J].Automotive Engineering,2010,32(9):778-782.
[8] 魏超,苑士华,胡纪滨,等.等差式液压机械无级变速器的速比控制理论与试验研究[J].机械工程学报,2011,47(16):101-105.WEI Chao,YUAN Shihua,HU Jibin,et al.Theoretical and Experimental Investigation of Speed Ratio Follow-up Control System on Geometric Type Hydro-mechanical Transmission[J].Chinese Journal of Mechanical Engineering,2011,47(16):101-105.
[9] AHN S,CHOI J,KIM S,et al.Development of an Integrated Engine-hydro-mechanical Transmission Control Algorithm for a Tractor[J].Advances in Mechanical Engineering ,2015,7(7):29-32.
[10] 张明柱.拖拉机多段液压机械无级变速器控制策略研究[D].西安:西安理工大学,2007.ZHANG Mingzhu.Control Strategy Development for Multi-range Hydro-mechanical Continuously Variable Transmission in Tractors.[D].Xi’an:Xi’an University of Technology,2007.
[11] 李丽娜,柳洪义,罗忠,等.模糊PID复合控制算法改进及应用[J].东北大学学报,2009,30(2):274-278.LI lina,LIU Hongyi,LUO Zhong,et al.Study on Improved Fuzzy-PID Composite Control Arithmetics and Its Application[J].Journal of Northeastern University,2009,30(2):274-278.
[12] 王大勇,王慧.基于变论域模糊控制的车辆半主动悬架控制方法[J].中国机械工程,2017,28(3):366-372.WANG Dayong,WANG Hui.Control Method of Vehicle Semi Active Suspensions Based on Variable Universe Fuzzy[J].China Mechanical Engineering,2017,28(3):366-372.
[13] 郭占正,苑士华,荆崇波,等.基于AMESim的液压机械无级传动换段过程建模与仿真[J].农业工程学报,2009,25(10):86-91.GUO Zhanzheng,YUAN Shihua,JING Chongbo,et al.Modeling and Simulation of Shifting Process in Hydraulic Machinery Stepless Transmission Based on AMESim[J].Transactions of the CSAE,2009,25(10):86-91.