不分离离合器AMT综合控制研究
|
摘要
电控机械式自动变速器(AMT),是在手动机械式变速器(MT)的基础上加装电子控制系统构成的,由电子控制单元对发动机、离合器、换挡执行机构等进行自动控制来实现自动换挡。AMT既具有一般自动变速器自动变速的优点,又保留了原手动变速器齿轮传动所具有的传动效率高、成本低、制造相对容易等诸多优点,是现阶段最适合我国国情的商用车用自动变速器。但传统形式AMT中换挡过程中对离合器的控制一直是制约国内AMT产品化的一个难点。为此,课题组在参考国外产品的基础上提出了不分离离合器AMT的产品构想,为解决传统AMT中离合器控制的难点提供了一种新的思路。
本文在课题组前期研究的基础上,结合重型商用车AMT的使用特点,分别对换挡过程中发动机调节和执行系统控制进行了研究,提出了换挡过程中的发动机控制策略,并给出了具体的CAN报文代码;设计了电机驱动电路和位置控制程序,并通过建模、仿真对所提出的算法有效性进行了验证。对系统的电子控制系统从软硬件两方面进行了研究,设计了系统的综合控制逻辑。通过台架和道路试验对所开发系统的性能进行了检验,并取得了较为满意的效果。
本文是对前期各种工作的总结,也为本课题后续的研究提供了一定的参考。
Automatic mechanical transmission (AMT) holds most merits of the conventional transmission, and it’s simpler and easier to manipulated, besides it’s cheaper and easier to developed than AT and some other kinds of automatic transmission. So, this kind of automatic transmission is one of the most suitable kinds of automatic transmission for the situation of our country. However, owing to the difficulty of clutch control, its industrialization is much limited. For this reason, our work team put forward the assumption of a no-separated-clutch AMT gear shift system. The main designing idea of this kind of AMT is based on the electric control engine and a pair of electronic control servo DC was chosen as the actuator to shift. When it’s the time to shift during the moving of the vehicle, the output rotation and torque of the engine is modulated by communicating with the ECU of the engine using CAN_bus to make the active and passive gear synchronous, if necessary, a engine reducer may be used to make this process more quickly, meanwhile the DC motor is control by the TCU of the system to the destination position to make this shift process done. And the clutch is not needed to separate during this procession most of time, this may make the control of clutch much easier, meanwhile, the running out time of clutch can be much more increased.
After having been deeply studied, in the late of 2006, Shannxi Fast Gear Ltd., cooperating with Shannxi heavy vehicle Ltd., Jilin university, Chongqing university, began to carry on the national“shi-yi-wu”863 project of“the development in heavy commercial vehicle (2000N.M)”. This project has been brought into the significant project of modern transportation area. This thesis is based on the project, aiming at the study of integrated control of this system, some related theory was studied, meanwhile, both the bench test and road test have been done, too. The main researching content includes the following aspects:
1, By reading the relative documents about automatic transmission, especially about AMT both of home and abroad, as well as the news and web pages, combined with the study of our work team, the history, current status and the direction of automatic mechanical transmission has been summarizes in this paper; besides, the structure and basic principle of this kind of no-separated-clutch AMT gear shift system has also been introduced , both the advantages and technology difficulties of this system have been analyzed, too. After all of these done, the main research object and study subjects were put forward.
2, research on engine control system
Both control principle and working process of electronic control disel engine have been studied is this paper, as well as the application of CAN_bus communication technology. And preliminary study of CAN protocol has been done, so with the basic content of it .Besides, the function of PDU and PGN is analyzed based on the study of the structure of all kinds of frames. The operating characteristic of engine and transmission during the shift process has been studied, too. After all these done, the detailed CAN code for engine output speed and torque control is proposed.
3, research on gear shifting execution system
According to the characteristic of AMT system, and by studying the structure and operating principle of the gear selecting and shifting execution system and comparing several kinds of motors, a pair of DC servo motor of MAXON was chosen as the power source of the execution system. Both software and hardware of the motor module are designed: when the principle of PWM control system of motor modulation and“H”bridge driving circuit being studied, the TLE6284G produced by Infineon was chosen as the driving chip of this system; The signal processing module and the position feed back circuit were designed based on the function and working principle of the photoelectric encoder; Several kinds of PID control strategy was studied, to meet the need of motor position contrl, the simulink model was made to validate the position control strategy.
4, research on the integrated control system
Both software and hardware of the integrated control system were studied. For the hardware, the function of the whole system was devided to several modules, and some of them were especially researched: the function of data collecting and disposing system was studied, and the correlative interface circuits were designed. Both the serial and CAN bus communication systems of the communication module were studied, and the correlative interface circuits were designed, too. The function of the main chip system was initially researched, and both clock circuit and reset circuit were designed. For the software, the entire system was plotted to several modules according to the function of each of them, and a few of them were especially researched. For the data collecting and disposing system, the pulse signal was mainly studied, and the collecting and disposing program was made. The PC serial communication system was programed using VB language, and the CAN bus communication program was designed, too. As the time sequence reference of the whole system, the integrated control logic was especially studied, and the shifting module was designed as the core of it.
5, bench and road test
The structure and function of the testing bench was introduced, and the position control strategy program was put forward. Besides, the engine modulation, motor position control, and the integration of them were all tested on the bench, and part of shifting test was carried through to validate. A long time of road test was carried, and the whole system was tested in the real environment, based on the problems discovered in the road test, some supplement and amendment was made to the theory proposed previously, and these can provide the future research with reference.
本文在课题组前期研究的基础上,结合重型商用车AMT的使用特点,分别对换挡过程中发动机调节和执行系统控制进行了研究,提出了换挡过程中的发动机控制策略,并给出了具体的CAN报文代码;设计了电机驱动电路和位置控制程序,并通过建模、仿真对所提出的算法有效性进行了验证。对系统的电子控制系统从软硬件两方面进行了研究,设计了系统的综合控制逻辑。通过台架和道路试验对所开发系统的性能进行了检验,并取得了较为满意的效果。
本文是对前期各种工作的总结,也为本课题后续的研究提供了一定的参考。
Automatic mechanical transmission (AMT) holds most merits of the conventional transmission, and it’s simpler and easier to manipulated, besides it’s cheaper and easier to developed than AT and some other kinds of automatic transmission. So, this kind of automatic transmission is one of the most suitable kinds of automatic transmission for the situation of our country. However, owing to the difficulty of clutch control, its industrialization is much limited. For this reason, our work team put forward the assumption of a no-separated-clutch AMT gear shift system. The main designing idea of this kind of AMT is based on the electric control engine and a pair of electronic control servo DC was chosen as the actuator to shift. When it’s the time to shift during the moving of the vehicle, the output rotation and torque of the engine is modulated by communicating with the ECU of the engine using CAN_bus to make the active and passive gear synchronous, if necessary, a engine reducer may be used to make this process more quickly, meanwhile the DC motor is control by the TCU of the system to the destination position to make this shift process done. And the clutch is not needed to separate during this procession most of time, this may make the control of clutch much easier, meanwhile, the running out time of clutch can be much more increased.
After having been deeply studied, in the late of 2006, Shannxi Fast Gear Ltd., cooperating with Shannxi heavy vehicle Ltd., Jilin university, Chongqing university, began to carry on the national“shi-yi-wu”863 project of“the development in heavy commercial vehicle (2000N.M)”. This project has been brought into the significant project of modern transportation area. This thesis is based on the project, aiming at the study of integrated control of this system, some related theory was studied, meanwhile, both the bench test and road test have been done, too. The main researching content includes the following aspects:
1, By reading the relative documents about automatic transmission, especially about AMT both of home and abroad, as well as the news and web pages, combined with the study of our work team, the history, current status and the direction of automatic mechanical transmission has been summarizes in this paper; besides, the structure and basic principle of this kind of no-separated-clutch AMT gear shift system has also been introduced , both the advantages and technology difficulties of this system have been analyzed, too. After all of these done, the main research object and study subjects were put forward.
2, research on engine control system
Both control principle and working process of electronic control disel engine have been studied is this paper, as well as the application of CAN_bus communication technology. And preliminary study of CAN protocol has been done, so with the basic content of it .Besides, the function of PDU and PGN is analyzed based on the study of the structure of all kinds of frames. The operating characteristic of engine and transmission during the shift process has been studied, too. After all these done, the detailed CAN code for engine output speed and torque control is proposed.
3, research on gear shifting execution system
According to the characteristic of AMT system, and by studying the structure and operating principle of the gear selecting and shifting execution system and comparing several kinds of motors, a pair of DC servo motor of MAXON was chosen as the power source of the execution system. Both software and hardware of the motor module are designed: when the principle of PWM control system of motor modulation and“H”bridge driving circuit being studied, the TLE6284G produced by Infineon was chosen as the driving chip of this system; The signal processing module and the position feed back circuit were designed based on the function and working principle of the photoelectric encoder; Several kinds of PID control strategy was studied, to meet the need of motor position contrl, the simulink model was made to validate the position control strategy.
4, research on the integrated control system
Both software and hardware of the integrated control system were studied. For the hardware, the function of the whole system was devided to several modules, and some of them were especially researched: the function of data collecting and disposing system was studied, and the correlative interface circuits were designed. Both the serial and CAN bus communication systems of the communication module were studied, and the correlative interface circuits were designed, too. The function of the main chip system was initially researched, and both clock circuit and reset circuit were designed. For the software, the entire system was plotted to several modules according to the function of each of them, and a few of them were especially researched. For the data collecting and disposing system, the pulse signal was mainly studied, and the collecting and disposing program was made. The PC serial communication system was programed using VB language, and the CAN bus communication program was designed, too. As the time sequence reference of the whole system, the integrated control logic was especially studied, and the shifting module was designed as the core of it.
5, bench and road test
The structure and function of the testing bench was introduced, and the position control strategy program was put forward. Besides, the engine modulation, motor position control, and the integration of them were all tested on the bench, and part of shifting test was carried through to validate. A long time of road test was carried, and the whole system was tested in the real environment, based on the problems discovered in the road test, some supplement and amendment was made to the theory proposed previously, and these can provide the future research with reference.
引文
[1]初明忠.重型商用车不分离离合器AMT电动换挡的研究[D].吉林:吉林大学汽车工程学院.2007
[2]尔悦.感受全新卡车技术带来的舒适——全新一代VOLVO I-shift自动变速器[J].商用汽车,2002(7):5.
[3]鲁新田,侯国政.AMT控制系统结构及国外主要AMT产品介绍[J].汽车技术.2004(5):19-22.
[4]梁珍.自动换挡机械式变速器(AMT)在欧洲5大品牌载货汽车上的应用[J].商用汽车,2002(8):104-208.
[5]张建波.AMT车辆变速系统及控制过程的研究[J].汽车技术.2005(10):8-11.
[6]杨俊英.重型商用车AMT换挡转速同步控制技术研究[D].吉林:吉林大学汽车工程学院.2008
[7]陈家瑞.汽车构造.下册[M].北京:机械工业出版社,2005.1
[8]敏瑞.德尔福柴油机电控高压共轨喷油系统(二)[J].汽车维修与保养.2008.8:70-71.
[9]林学东.现代汽车动力传动装置的控制技术[M].北京:北京理工大学出版社,2003,10.
[10]王尚勇.柴油机电子控制技术[M].北京:机械工业出版社,2005,1
[11]钟勇,钟志华,余群明,曾志伟.电动汽车CAN总线通用协议的应用研究[J].汽车工程.2006,28(4):422-426.
[12]南金瑞,刘波澜.汽车单片机及车载总线技术[M].北京:北京理工大学出版社,2005.10
[13]宋明浩,阳宪惠.车载控制网络及其协议比较[J].汽车工程.2005,27(2):225-229.
[14]王升山.离合器不分离AMT换挡过程中发动机控制[D].吉林:吉林大学汽车工程学院,2007.
[15]葛安林,沈波.AMT换挡品质的研究[J].汽车技术.2003(2):43-45.
[16]赵丁选,王卓,张景波.改善工程车辆换挡品质的变结构模糊控制系统研究[J].农业机械学报.2003,34(1):8-10.
[17]程军,崔继波,荀凯英.车辆控制系统CAN总线通信的实施方法.汽车工程.2001,23(5):300-305.
[18] CAN-bus规范V2.0版本.广州周立功单片机发展有限公司.http://www.zigmcu.com.
[19]李永强,宋希庚,薛冬新.CAN局域网及J1939协议在货车和客车上的运用.汽车工程.2003,25(4):377-379
[20]隋蕾.AMT中基于CAN总线的发动机控制研究[D].吉林:吉林大学汽车工程学院,2008.
[21]何存兴,张铁华.液压传动与气压传动[M].武汉:华中科技大学出版社,2000.8
[22]魏黎.基于无刷直流电机的AMT选换挡控制系统研究[D].吉林:吉林大学汽车工程学院,2007.
[23]丛望,郭镇明.电机学[M].哈尔滨:哈尔滨工程大学出版社,1996.1
[24]邓星钟.机电传动控制(第3版)[M].武汉:华中科技大学出版社,2001.3
[25]产品目录06/07. www.maxonmotor.com.cn
[26]肖然,郝守刚,周明,李建秋.直流电机位置伺服驱动器设计[J].电子技术应用.2007(9);25-27.
[27]费伟忠,沈建新,周勇.增量式光电编码器计数与接口电路的设计[J].微特电机.2007(1):17-18.
[28]许理,赵英俊.基于单片机的增量式光电编码器接口电路的设计[J].机械与电子.2006(12):9-11.
[29]丛爽,李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006.1
[30]唐永哲.电力传动自动控制系统[M].西安:西安电子科技大学出版社,1998.4
[31]王晓明.电动机的单片机控制[M].北京:北京航空航天大学出版社—2版,2007.8
[32]代普,韩崇伟,赵晰,杜会民.PWM在直流电机伺服系统中的应用研究[J].制造业自动化,2008,4(4):58-59.
[33]李晓静,罗永革,余建强,刘珂路.基于AMT直流电机的H桥驱动电路硬件研制[J].湖北工业学院学报.2007.3:22-25.
[34]刘军,孟祥忠.电力拖动运动控制系统[M].北京:机械工业出版社,2007,6.
[35] Data Sheet TLE6284G.Published by Infineon Technologies.[2006-01-30]
[36]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003.1
[37]杨耕,罗应立.电机与运动控制系统[M].北京:清华大学出版社,2006.3
[38] Data Sheet TLE6368.Published by Infineon Technologies.[2006-12-01]
[39] XC164-16内嵌C1666SV2核的16位单片微控制器第1卷:系统单元.用户手册,V2.1,[2004-03].英飞凌科技出版
[40]孔慧芳.电控机械式自动变速器中传动与控制的关键技术研究[D].安徽:合肥工业大学电气与自动化学院,2008.
[41]ABS防抱死系统转速传感器结构原理.设备管理网http://sbgl.jdzj.com/Article/200902/20090224163758_23641.html
[42]马磊.电控机械式变速器AMT换挡控制技术的研究[D].安徽:合肥工业大学控制理论与控制工程专业.2007.12
[43]张毅刚.新编MCS-51单片机应用设计[M].哈尔滨:哈尔滨工业大学出版社,2008.3
[44] Maxim Integrated Products(MAX220-MAX249).19-4323.[2006-01]. http://www.maxim-ic.com.
[45]刘通.AMT电机控制系统中CAN的应用[J].内蒙古科技与经济,2008,3:229-230.
[46]孙勇俊,鲁统利,张建武.基于CAN总线的AMT通信模块设计[J].微计算机信息.2007(4-2):285-287.
[47]苗立颖.基于C164单片机的AMT控制系统设计[D].吉林:吉林大学计算机科学与技术学院,2007
[48]许永和,张丹.Visual Basic接口设计与工程实践[M].北京:人民邮电出版社,2007,6
[49] XC164-16内嵌C1666SV2核的16位单片微控制器第2卷:外设单元.用户手册,V2.1,[2004-03].英飞凌科技出版
[50]张建林.电控电动AMT无离合器操纵换挡控制技术的研究[D].吉林:吉林大学汽车工程学院,2007
[51]马忠梅.单片机C语言Windows环境编程宝典[M].北京:北京航空航天大学出版社,2008.6
[52]西安康明斯网站.ISM系列发动机技术参数. 2007-8-17 http://www.xcec.com.cn/Chinese/ProductShow.asp?articleid=156&cat=1
[2]尔悦.感受全新卡车技术带来的舒适——全新一代VOLVO I-shift自动变速器[J].商用汽车,2002(7):5.
[3]鲁新田,侯国政.AMT控制系统结构及国外主要AMT产品介绍[J].汽车技术.2004(5):19-22.
[4]梁珍.自动换挡机械式变速器(AMT)在欧洲5大品牌载货汽车上的应用[J].商用汽车,2002(8):104-208.
[5]张建波.AMT车辆变速系统及控制过程的研究[J].汽车技术.2005(10):8-11.
[6]杨俊英.重型商用车AMT换挡转速同步控制技术研究[D].吉林:吉林大学汽车工程学院.2008
[7]陈家瑞.汽车构造.下册[M].北京:机械工业出版社,2005.1
[8]敏瑞.德尔福柴油机电控高压共轨喷油系统(二)[J].汽车维修与保养.2008.8:70-71.
[9]林学东.现代汽车动力传动装置的控制技术[M].北京:北京理工大学出版社,2003,10.
[10]王尚勇.柴油机电子控制技术[M].北京:机械工业出版社,2005,1
[11]钟勇,钟志华,余群明,曾志伟.电动汽车CAN总线通用协议的应用研究[J].汽车工程.2006,28(4):422-426.
[12]南金瑞,刘波澜.汽车单片机及车载总线技术[M].北京:北京理工大学出版社,2005.10
[13]宋明浩,阳宪惠.车载控制网络及其协议比较[J].汽车工程.2005,27(2):225-229.
[14]王升山.离合器不分离AMT换挡过程中发动机控制[D].吉林:吉林大学汽车工程学院,2007.
[15]葛安林,沈波.AMT换挡品质的研究[J].汽车技术.2003(2):43-45.
[16]赵丁选,王卓,张景波.改善工程车辆换挡品质的变结构模糊控制系统研究[J].农业机械学报.2003,34(1):8-10.
[17]程军,崔继波,荀凯英.车辆控制系统CAN总线通信的实施方法.汽车工程.2001,23(5):300-305.
[18] CAN-bus规范V2.0版本.广州周立功单片机发展有限公司.http://www.zigmcu.com.
[19]李永强,宋希庚,薛冬新.CAN局域网及J1939协议在货车和客车上的运用.汽车工程.2003,25(4):377-379
[20]隋蕾.AMT中基于CAN总线的发动机控制研究[D].吉林:吉林大学汽车工程学院,2008.
[21]何存兴,张铁华.液压传动与气压传动[M].武汉:华中科技大学出版社,2000.8
[22]魏黎.基于无刷直流电机的AMT选换挡控制系统研究[D].吉林:吉林大学汽车工程学院,2007.
[23]丛望,郭镇明.电机学[M].哈尔滨:哈尔滨工程大学出版社,1996.1
[24]邓星钟.机电传动控制(第3版)[M].武汉:华中科技大学出版社,2001.3
[25]产品目录06/07. www.maxonmotor.com.cn
[26]肖然,郝守刚,周明,李建秋.直流电机位置伺服驱动器设计[J].电子技术应用.2007(9);25-27.
[27]费伟忠,沈建新,周勇.增量式光电编码器计数与接口电路的设计[J].微特电机.2007(1):17-18.
[28]许理,赵英俊.基于单片机的增量式光电编码器接口电路的设计[J].机械与电子.2006(12):9-11.
[29]丛爽,李泽湘.实用运动控制技术[M].北京:电子工业出版社,2006.1
[30]唐永哲.电力传动自动控制系统[M].西安:西安电子科技大学出版社,1998.4
[31]王晓明.电动机的单片机控制[M].北京:北京航空航天大学出版社—2版,2007.8
[32]代普,韩崇伟,赵晰,杜会民.PWM在直流电机伺服系统中的应用研究[J].制造业自动化,2008,4(4):58-59.
[33]李晓静,罗永革,余建强,刘珂路.基于AMT直流电机的H桥驱动电路硬件研制[J].湖北工业学院学报.2007.3:22-25.
[34]刘军,孟祥忠.电力拖动运动控制系统[M].北京:机械工业出版社,2007,6.
[35] Data Sheet TLE6284G.Published by Infineon Technologies.[2006-01-30]
[36]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003.1
[37]杨耕,罗应立.电机与运动控制系统[M].北京:清华大学出版社,2006.3
[38] Data Sheet TLE6368.Published by Infineon Technologies.[2006-12-01]
[39] XC164-16内嵌C1666SV2核的16位单片微控制器第1卷:系统单元.用户手册,V2.1,[2004-03].英飞凌科技出版
[40]孔慧芳.电控机械式自动变速器中传动与控制的关键技术研究[D].安徽:合肥工业大学电气与自动化学院,2008.
[41]ABS防抱死系统转速传感器结构原理.设备管理网http://sbgl.jdzj.com/Article/200902/20090224163758_23641.html
[42]马磊.电控机械式变速器AMT换挡控制技术的研究[D].安徽:合肥工业大学控制理论与控制工程专业.2007.12
[43]张毅刚.新编MCS-51单片机应用设计[M].哈尔滨:哈尔滨工业大学出版社,2008.3
[44] Maxim Integrated Products(MAX220-MAX249).19-4323.[2006-01]. http://www.maxim-ic.com.
[45]刘通.AMT电机控制系统中CAN的应用[J].内蒙古科技与经济,2008,3:229-230.
[46]孙勇俊,鲁统利,张建武.基于CAN总线的AMT通信模块设计[J].微计算机信息.2007(4-2):285-287.
[47]苗立颖.基于C164单片机的AMT控制系统设计[D].吉林:吉林大学计算机科学与技术学院,2007
[48]许永和,张丹.Visual Basic接口设计与工程实践[M].北京:人民邮电出版社,2007,6
[49] XC164-16内嵌C1666SV2核的16位单片微控制器第2卷:外设单元.用户手册,V2.1,[2004-03].英飞凌科技出版
[50]张建林.电控电动AMT无离合器操纵换挡控制技术的研究[D].吉林:吉林大学汽车工程学院,2007
[51]马忠梅.单片机C语言Windows环境编程宝典[M].北京:北京航空航天大学出版社,2008.6
[52]西安康明斯网站.ISM系列发动机技术参数. 2007-8-17 http://www.xcec.com.cn/Chinese/ProductShow.asp?articleid=156&cat=1