两挡AMT纯电动汽车换挡协调控制及试验研究
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摘要
为提高两档AMT纯电动汽车的换挡平顺性及减少换挡时间,建立了详细的纯电动汽车动力传动系统的数学模型,制定驱动电机参与换挡过程的综合协调控制方法,从允许的最大换挡冲击度出发得出转矩相阶段电机扭矩控制律,惯性相阶段采用PID和有限状态切换的控制策略进行电机调速.最后搭建纯电动汽车传动系统试验台架,对升挡和降挡过程中换挡协调控制策略进行仿真分析与试验验证.仿真结果显示:0～100 km/h全加速的升挡时间为0.5 s,纵向冲击度在8.0 m/s~3以内,NEDC市区工况升降挡时间均在0.6 s以内,最大冲击度未超过7.8 m/s~3;试验结果显示:驱动电机在固定转速下的升降挡时间分别为0.6 s和0.8 s,输出轴转速变化平滑.传统AMT车辆的换挡时间为0.8～1.0 s,上述结果表明该换挡综合协调控制策略能够实现快速、平稳换挡.
In order to improve the shifting smoothness and to reduce the shifting time of the two-speed Automated Manual Transmission(AMT)equipped on the pure electric vehicle,the mathematical model of the powertrain system was developed,and the comprehensive coordinated control strategies in which the motor participates in the shifting process were designed. The motor torque control law of torque phase was derived from the maximum allowable shift impact,and the PID and finite state switching control strategy were adopted to regulate motor speed during the inertia phase. Additionally,a test rig of the pure electric vehicle transmission system was built for the up-shift and down-shift test. The simulation results show that the up-shift time of 0～100 km/h full acceleration is 0.5 s,the longitudinal impact is within 8.0 m/s~3,and the up-shift and down-shift time in the NEDC urban conditions are both within 0.6 s,and the maximum impact does not exceed 7.8 m/s~3. The test results show that the up-shift and downshift time is 0.6 s and 0.8 s,respectively,which is in the condition that the drive motor under fixed speed control,and the output shaft speed changes smoothly. Because the shift time of the traditional AMT vehicle is 0.8～1.0 s,the above results show that the comprehensive coordination shift control strategy can achieve fast and smooth shifting.
In order to improve the shifting smoothness and to reduce the shifting time of the two-speed Automated Manual Transmission(AMT)equipped on the pure electric vehicle,the mathematical model of the powertrain system was developed,and the comprehensive coordinated control strategies in which the motor participates in the shifting process were designed. The motor torque control law of torque phase was derived from the maximum allowable shift impact,and the PID and finite state switching control strategy were adopted to regulate motor speed during the inertia phase. Additionally,a test rig of the pure electric vehicle transmission system was built for the up-shift and down-shift test. The simulation results show that the up-shift time of 0～100 km/h full acceleration is 0.5 s,the longitudinal impact is within 8.0 m/s~3,and the up-shift and down-shift time in the NEDC urban conditions are both within 0.6 s,and the maximum impact does not exceed 7.8 m/s~3. The test results show that the up-shift and downshift time is 0.6 s and 0.8 s,respectively,which is in the condition that the drive motor under fixed speed control,and the output shaft speed changes smoothly. Because the shift time of the traditional AMT vehicle is 0.8～1.0 s,the above results show that the comprehensive coordination shift control strategy can achieve fast and smooth shifting.
引文
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[15] ZHONG Z M,KONG G L,YU Z P,et al. Concept evaluation of anovel gear selector for automated manual transmissions[J].Mechanical Systems&Signal Processing,2012,31(8):316—331.
[16]江昊,赵韩,黄康,等.纯电动汽车经济性换挡规律仿真研究[J].汽车工程,2015,37(7):819—824.JIANG H,ZHAO H,HUANG K,et al. A simulation study on theshift schedule of electric vehicle aiming at fuel economy[J].Automotive Engineering,2015,37(7):819—824.(In Chinese)
[17]张志杰,李茂德.锂离子动力电池温升特性的研究[J].汽车工程,2010,32(4):320—323.ZHANG Z J,LI M D. A study on the temperature rise characteristicof lithium-ion power battery[J]. Automotive Engineering,2010,32(4):320—323.(In Chinese)
[18] ZHU C,LI X H,SONG L J,et al. Development of a theoreticallybased thermal model for lithium ion battery pack[J]. Journal ofPower Sources,2013,223(1):155—164.
[19] PANG B,HONG J L,GAO B Z,et al. Shift quality qmelioration ofEV with AMT by speed regulation[C]//International Federation ofAutomatic Control(IFAC).Changchun,China,2018:910—917.
[20]孙骏,薛敏,房娜娜.基于Matlab/Stateflow的4AT换挡控制仿真研究[J].合肥工业大学学报(自然科学版),2012,35(4):439—443.SUN J,XUE M,FANG N N. Study of the simulation of 4AT shiftcontrol based on Matlab/Stateflow[J]. Journal of Hefei University ofTechnology(Natural Sciences),2012,35(4):439—443.(In Chinese)
[2] ZHU B,ZHANG N,WALKER P,et al. Gear shift schedule designfor multi-speed pure electric vehicles[J]. Proceedings of theInstitution of Mechanical Engineers Part D-Journal of AutomobileEngineering,2014,229(1):70—82.
[3]龚贤武,唐自强,马建,等.两挡纯电动汽车动力传动系统的参数匹配与优化[J].合肥工业大学学报(自然科学版),2017,40(3):310-315.GONG X W,TANG Z Q,MA J,et al. Optimization design ofpowertrain parameter for in-wheel motor driven electric vehicles[J]. Journal of Hefei University of Technology(Natural Sciences),2017,40(3):310—315.(In Chinese)
[4]王峰,方宗德,祝小元.纯电动汽车新型动力传动装置的匹配仿真与优化[J].汽车工程,2011,33(9):805—808.WANG F,FANG Z D,ZHU X Y. Matching, simulation andoptimization of the new power transmission device for an electricvehicle[J]. Automotive Engineering,2011,33(9):805—808.(InChinese)
[5]刘拂晓,赵韩,江昊.纯电动汽车AMT换挡规律及仿真研究[J].合肥工业大学学报(自然科学版),2013,36(11):1281—1284.LIU F X,ZHAO H,JIANG H. Research on the simulation of AMTshift schedule for pure electric vehicle[J]. Journal of HefeiUniversity of Technology(Natural Sciences),2013,36(11):1281—3448.(In Chinese)
[6] YUE H Q,ZHU C Y,GAO B Z. Fork-less two-speed I-AMT withoverrunning clutch for light electric vehicle[J]. Mechanism andMachine Theory,2018(130):157—169.
[7] TIAN Y,RUAN J,ZHANG N,et al. Modeling and control of a noveltwo-speed transmission for electric vehicles[J]. Mechanism&Machine Theory,2018(127):13—32.
[8] NGUYEN T S,宋健,方圣楠,等.电动汽车动力保持型机械式自动两挡变速器仿真与试验[J].清华大学学报(自然科学版),2017,57(10):1106—1113.NGUYEN T S,SONG J,FANG S N,et al. Simulation andexperimental demonstration of a seamless two-speed automaticmechanical transmission for electric vehicles[J]. Journal ofTsinghua University(Science and Technology),2017,57(10):1106—1113.(In Chinese)
[9] ZHONG Z,KONG G,YU Z,et al. Shifting control of an automatedmechanical transmission without using the clutch[J]. InternationalJournal of Automotive Technology,2012,13(3):487—496.
[10]王洪亮,刘海鸥,关超华,等.重型车辆AMT换挡过程控制方法研究[J].汽车工程,2009,31(6):540—544.WANG H L,LIU H O,GUAN C H. A Study on gear shifting controlof AMT in heavy-duty vehicles[J]. Automotive Engineering,2009,31(6):540—544.(In Chinese)
[11]WALKER P D,FANG Y H,ZHANG N. Dynamics and control ofclutchless automated manual transmissions for electric vehicles[J].Journal of Vibration and Acoustics,2017,12(139):061005.
[12]HU M H,ZENG J F,XU S Z,et al. Efficiency study of a dual-motorcoupling EV powertrain[J]. IEEE Transactions on VehicularTechnology,2015,64(6):2252—2260.
[13] LUCENTE G,MONTANARI M,ROSSI C. Modeling of anautomated manual transmission system[J]. Mechatronics,2007,17(2):73—91.
[14] WANG X Y,LI L,HE K,et al. Dual-loop self-learning fuzzycontrol for AMT gear engagement:design and experiment[J]. IEEETransactions on Fuzzy Systems,2017(99):1—13.
[15] ZHONG Z M,KONG G L,YU Z P,et al. Concept evaluation of anovel gear selector for automated manual transmissions[J].Mechanical Systems&Signal Processing,2012,31(8):316—331.
[16]江昊,赵韩,黄康,等.纯电动汽车经济性换挡规律仿真研究[J].汽车工程,2015,37(7):819—824.JIANG H,ZHAO H,HUANG K,et al. A simulation study on theshift schedule of electric vehicle aiming at fuel economy[J].Automotive Engineering,2015,37(7):819—824.(In Chinese)
[17]张志杰,李茂德.锂离子动力电池温升特性的研究[J].汽车工程,2010,32(4):320—323.ZHANG Z J,LI M D. A study on the temperature rise characteristicof lithium-ion power battery[J]. Automotive Engineering,2010,32(4):320—323.(In Chinese)
[18] ZHU C,LI X H,SONG L J,et al. Development of a theoreticallybased thermal model for lithium ion battery pack[J]. Journal ofPower Sources,2013,223(1):155—164.
[19] PANG B,HONG J L,GAO B Z,et al. Shift quality qmelioration ofEV with AMT by speed regulation[C]//International Federation ofAutomatic Control(IFAC).Changchun,China,2018:910—917.
[20]孙骏,薛敏,房娜娜.基于Matlab/Stateflow的4AT换挡控制仿真研究[J].合肥工业大学学报(自然科学版),2012,35(4):439—443.SUN J,XUE M,FANG N N. Study of the simulation of 4AT shiftcontrol based on Matlab/Stateflow[J]. Journal of Hefei University ofTechnology(Natural Sciences),2012,35(4):439—443.(In Chinese)