车辆传动系道路负载模拟系统
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摘要
为了考核汽车传动系疲劳耐久性,利用汽车传动系道路模拟试验系统在室内重现车辆在真实道路上的行驶扭矩载荷谱。对载荷谱数据进行频谱分析,确定负载模拟系统载荷谱频带宽度。为了提高负载模拟控制系统对目标载荷曲线的跟随精度,设计了一种滑模变结构技术和迭代学习控制技术相结合的控制器,迭代学习控制通过重复执行同一任务来减少跟随误差,使系统输出尽可能逼近理想值,结合滑模变结构控制响应快,对参数变化及扰动不敏感的优点提高了模拟系统的鲁棒性。滑模迭代学习控制方法在学习10次后其控制精度(4.7%)比使用常规PID控制(8.3%)提高了3.6%,迭代后载荷响应误差可控制在5%以内,能够满足室内耐久性试验的要求。
In order to study the fatigue durability of a vehicle drivetrain system,a new vehicle drivetrain road load simulation system was designed to return the load spectrum on an indoor testbench. The band widths of the load simulation system were obtained according to the measured data. Based on the iterative learning control( ILC),a sliding mode variable structure control( SMC) scheme was proposed for the road load simulation system to improve the accuracy of load spectrum tracking. ILC generally improved the system performance in performing repetitive tasks by using the information from previous iterations,SMC with advantages of fast response and being not sensitive to disturbances of parameters was a good solution to the problem of the system's robustness. It was shown that compared with the conventional PID control,the control precision of the simulation system with ILC and SMC can be improved by 3. 6%,the iteratived load response error can be controlled within 5%,the requirements of the indoor durability test can be met.
In order to study the fatigue durability of a vehicle drivetrain system,a new vehicle drivetrain road load simulation system was designed to return the load spectrum on an indoor testbench. The band widths of the load simulation system were obtained according to the measured data. Based on the iterative learning control( ILC),a sliding mode variable structure control( SMC) scheme was proposed for the road load simulation system to improve the accuracy of load spectrum tracking. ILC generally improved the system performance in performing repetitive tasks by using the information from previous iterations,SMC with advantages of fast response and being not sensitive to disturbances of parameters was a good solution to the problem of the system's robustness. It was shown that compared with the conventional PID control,the control precision of the simulation system with ILC and SMC can be improved by 3. 6%,the iteratived load response error can be controlled within 5%,the requirements of the indoor durability test can be met.
引文
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[2]胡毓冬,周鋐,徐刚.整车道路模拟试验台的控制算法[J].同济大学学报:自然科学版,2012,40(8):1244-1248.HU Yu-dong,ZHOU Hong,XU Gang.Control algorithm of test rig for vehicle road simulation[J].Journal of Tong Ji University:Natural Science,2012,40(8):1244-1248.
[3]汪斌,过学迅,李孟良,等.基于迭代学习控制的道路模拟算法[J].汽车工程,2010,32(8):686-689.WANG Bin,GUO Xue-xun,LI Meng-liang,et al.Road simulation algorithm based on iterative learning control[J].Automotive Engineering,2012,40(8):1244-1248.
[4]陈剑,马文明,文智明.基于模糊聚类算法的道路模拟试验控制方法研究[J].中国机械工程,2010,21(18):2260-2263.CHEN Jian,MA Wen-ming,WEN Zhi-ming.Research on road simulation control method based on fuzzy clustering algorithm[J].China Mechanical Engineering,2010,21(18):2260-2263.
[5]刘成,李一兵,王仲范,等.多输入多输出试验系统的随机波形时域再现[J].汽车工程,2003,25(2):171-174.LIU Cheng,LI Yi-bing WANG Zhong-fan,et al.The reconstruction of stochastic waveform of MIMO test system in time domain[J].Automotive Engineering,2003,25(2):171-174.
[6]于少娟,彭昌,宋君君,等.双阀并联电液伺服力控系统的迭代学习控制[J],振动、测试与诊断,2013,33(2):247-251.YU Shao-juan,PENG Chang,SONG Jun-jun,et al.Iterative learning control on double-valve parallel electro-hydraulic servo force control system[J].Journal of Vibration,Measurement&Diagnosis,2013,33(2):247-251.
[7]张宏伟,余发山,卜旭辉,等.基于鲁棒迭代学习的永磁直线电机控制[J].电机与控制学报,2012(16),81-86.ZHANG Hong-wei,YU Fa-shan,BU Xu-hui,et.al.Robust iterative learning control for permanent magnet linear motor[J].Eleetric Machines and Control,2012(16):81-86.
[8]何熊熊,秦贞华,张端.基于边界层的不确定机器人自适应迭代学习控制[J].控制理论与应用,2012(29):1090-1093.HE Xiong-xiong,QIN Zhen-hua,ZHANG Duan.Adaptive iterative learning control for uncertain robotbased on boundary layer[J],Control Theory Applications,2012(29):1090-1093.
[9]刘金琨.滑模变结构控制MATLAB仿真[M].第2版.清华大学出版社,2012.
[10]Singh M,Mohanty K B,Member S,et al.Sliding mode control of a feedback linearized induction motor using TS fuzzy based adaptive iterative learning controller[C]//9th IEEEInternational Conference on Power Electronics&Drive Systems,Singapore,Dec 5-8,2011:625-630.
[11]高为炳.变结构控制理论基础[M].北京:中国科学技术出版社,1990.