干式双离合器自动变速系统的综合控制与仿真
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摘要
当前变速器领域的焦点是双离合自动变速器(DCT),研究它的关键技术是双离合器的控制系统。DCT是一种动力换档变速器,舒适的驾驶性、较低的排放、较高的燃油经济性及传动效率等是它的优点,市场前景良好。其中干式膜片弹簧单片离合器是双离合器自动变速器的一种形式,其从动部分转动惯量相对较小、简单的结构、便于调整、分离彻底、同时具有保护转矩过载、较低相对成本、且省略了辅助动力等优点。所以,研究双离合器自动变速器(DCT),掌握其关键技术,对促进我国汽车工业发展意义重大。
本文以国家“863”计划子项目:轿车双离合器自动变速器(DCT)开发为依托,针对干式双离合器自动变速器进行了以下工作:
①对干式双离合器自动变速器传动系统进行了建模。首先建立了整车动力学模型;然后建立了发动机动态模型与节气门的线性模型,设计了发动机节气门执行机构PID控制器;针对分离接合过程动力学机理及动态特性,建立了DCT切换过程中扭矩传递动态模型;基于动力学方程,建立了双离合器自动变速器换档动力学模型。建立了膜片弹簧离合器载荷-变形特性模型;分析换档过程中离合器接合速度、行程与传递扭矩的关系。在分析直流伺服电动机和离合器执行机构动态响应特性的基础上,建立了离合器执行机构动力学模型。
②对干式双离合器进行结构设计及基本参数选择,包括对膜片弹簧进行设计及载荷变形分析。
③针对双离合器自动变速器(DCT)的换档过程进行了分析,对影响换档品质的因素进行了综合考虑,设计了模糊控制和PI控制的双闭环控制器,对电动机进行控制,并对控制器进行阶跃响应和正弦响应的仿真对比。
④最后文中以发动机转速和离合器分离接合速度综合控制为原则,设计了针对离合器分离接合速度与发动机转速控制的换档控制器。在分析了换档过程离合器的转矩和转速的变化特点的基础上,制定了双离合器自动变速器的换档过程控制策略。在Matlab/Simulink软件平台中对双离合器自动变速器换档过程控制策略进行了仿真,从仿真结果分析可以表明,文中所采用的控制方法及控制器实现了双离合器接合与分离速度的精确控制,满足干式双离合器自动变速器系统的高性能需求。最后,对比了文中设计的控制器与PID控制器及具有模糊积分器的模糊控制器的控制效果,结果表明文中设计的控制器有明显优势。
Dual-clutch automatic transmission is the focus of the transmission field. The key technologies of study DCT system is double clutch control. DCT is a new power shift transmission. It has the advantages of driving comfortable, lower emissions, high fuel economy, drive efficiency, so the market outlook is promising. Dry type diaghragm spring clutch is a type of DCT. It has the advantages of small of moment of inertia of the driven part, simple structure, easy adjustment, completely isolated, torque overload protaction, high efficiency and relatively low cost, no auxiliary power, etc. Therefore, the development of proprietary dual-clutch automatic transmission, master the core technology, the promotion of development and technological progress of China automobile industry has very important significance.
In this paper, the study of dry type Dual-clutch Transmission is carried out relying on a project“Development of electronic control system of DCT”which is a sub-project of National High-tech R&D Program (This is a 863 Program).
①The dry DCT drive system model has been established. First, the vehicle dynamics model is established; and then create a dynamic model the engine and engine throttle linear model, designed for the model engine throttle actuators PID controller; For the dynamic mechanism and dynamic characteristics of separation and bonding, DCT torque transmission dynamic models during switching is established. Second, based on the DCT dynamic equation, the dynamic model of DCT shifting is established.
②The DCT shifting process has been analyzed and the shifting quality influence factors have been synthetically considered. For the factors, using fuzzy control and PI (Proportion Integration) controlof dual-loop controller has been designed to control the motor. Then, the step response snd sinusoidal response of the controller is simulated.
③According to the principle of integrated control of clutch juncture speed and engine speed, the fuzzy controller of clutch juncture speed and engine speed has been designed. Based on the analysis of the change characteristic of torque and speed of two clutches during switching of dry DCT, shift process control strategy of DCT is formulated. Dynamic simulation model of dry DCT powertrain is implemented by using the Matlab/Simulink software, the control strategy of shift process is simulated based on this dynamic mode with the parameters of Changan cehicle. The results show that the control method used in the precise control of speed of separation and juncture of dual-clutch is very good, meeting the high demand of DCT system. Finally, this paper compared the control effect of the designed controller and ordinary fuzzy controller, the results showed that better than the latter.
本文以国家“863”计划子项目:轿车双离合器自动变速器(DCT)开发为依托,针对干式双离合器自动变速器进行了以下工作:
①对干式双离合器自动变速器传动系统进行了建模。首先建立了整车动力学模型;然后建立了发动机动态模型与节气门的线性模型,设计了发动机节气门执行机构PID控制器;针对分离接合过程动力学机理及动态特性,建立了DCT切换过程中扭矩传递动态模型;基于动力学方程,建立了双离合器自动变速器换档动力学模型。建立了膜片弹簧离合器载荷-变形特性模型;分析换档过程中离合器接合速度、行程与传递扭矩的关系。在分析直流伺服电动机和离合器执行机构动态响应特性的基础上,建立了离合器执行机构动力学模型。
②对干式双离合器进行结构设计及基本参数选择,包括对膜片弹簧进行设计及载荷变形分析。
③针对双离合器自动变速器(DCT)的换档过程进行了分析,对影响换档品质的因素进行了综合考虑,设计了模糊控制和PI控制的双闭环控制器,对电动机进行控制,并对控制器进行阶跃响应和正弦响应的仿真对比。
④最后文中以发动机转速和离合器分离接合速度综合控制为原则,设计了针对离合器分离接合速度与发动机转速控制的换档控制器。在分析了换档过程离合器的转矩和转速的变化特点的基础上,制定了双离合器自动变速器的换档过程控制策略。在Matlab/Simulink软件平台中对双离合器自动变速器换档过程控制策略进行了仿真,从仿真结果分析可以表明,文中所采用的控制方法及控制器实现了双离合器接合与分离速度的精确控制,满足干式双离合器自动变速器系统的高性能需求。最后,对比了文中设计的控制器与PID控制器及具有模糊积分器的模糊控制器的控制效果,结果表明文中设计的控制器有明显优势。
Dual-clutch automatic transmission is the focus of the transmission field. The key technologies of study DCT system is double clutch control. DCT is a new power shift transmission. It has the advantages of driving comfortable, lower emissions, high fuel economy, drive efficiency, so the market outlook is promising. Dry type diaghragm spring clutch is a type of DCT. It has the advantages of small of moment of inertia of the driven part, simple structure, easy adjustment, completely isolated, torque overload protaction, high efficiency and relatively low cost, no auxiliary power, etc. Therefore, the development of proprietary dual-clutch automatic transmission, master the core technology, the promotion of development and technological progress of China automobile industry has very important significance.
In this paper, the study of dry type Dual-clutch Transmission is carried out relying on a project“Development of electronic control system of DCT”which is a sub-project of National High-tech R&D Program (This is a 863 Program).
①The dry DCT drive system model has been established. First, the vehicle dynamics model is established; and then create a dynamic model the engine and engine throttle linear model, designed for the model engine throttle actuators PID controller; For the dynamic mechanism and dynamic characteristics of separation and bonding, DCT torque transmission dynamic models during switching is established. Second, based on the DCT dynamic equation, the dynamic model of DCT shifting is established.
②The DCT shifting process has been analyzed and the shifting quality influence factors have been synthetically considered. For the factors, using fuzzy control and PI (Proportion Integration) controlof dual-loop controller has been designed to control the motor. Then, the step response snd sinusoidal response of the controller is simulated.
③According to the principle of integrated control of clutch juncture speed and engine speed, the fuzzy controller of clutch juncture speed and engine speed has been designed. Based on the analysis of the change characteristic of torque and speed of two clutches during switching of dry DCT, shift process control strategy of DCT is formulated. Dynamic simulation model of dry DCT powertrain is implemented by using the Matlab/Simulink software, the control strategy of shift process is simulated based on this dynamic mode with the parameters of Changan cehicle. The results show that the control method used in the precise control of speed of separation and juncture of dual-clutch is very good, meeting the high demand of DCT system. Finally, this paper compared the control effect of the designed controller and ordinary fuzzy controller, the results showed that better than the latter.
引文
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