液力自动变速器换挡控制轨迹优化方法

doi:10.3969/j.issn.1000-1093.2020.11.002

摘要/Abstract

摘要： 随着液力自动变速器挡位数不断增加，出现了换挡过程中需要多个离合器协同操纵的多切换式换挡方式，使得换挡品质控制问题变得更加复杂。为同时满足自动变速器在传统单切换以及多切换式换挡中的换挡品质需求，建立了包含发动机动态模型、液力变矩器动态模型、行星变速器、离合器和车辆负载的车辆换挡过程动力学模型，并通过非道路车辆的实车试验结果对所建动力传动系统仿真模型进行了验证。结合换挡品质客观评价指标，利用hp自适应Legendre-Gauss-Radau正交配点法，对车辆换挡过程中的离合器/制动器油压轨迹进行了优化。建立换挡品质控制硬件在环实验平台，开展了变速器在多切换以及单切换式换挡过程控制实验。结果表明，换挡品质优化方法能够有效提高车辆在各换挡过程中的换挡品质。

关键词: 液力自动变速器, 换挡品质控制, 多切换式换挡, 轨迹优化

Abstract: Multi-transition gear-shift, which needs more than one pair of clutches to be controlled properly, is carried out along with the increasing development of gear number. The shift quality control of multiple transition gear-shift is a more challenging problem compared with the traditional single transition gear-shift process. To achieve a satisfying shift quality during both single and multi-transition gear shift, a dynamic model of automatic transmission containing engine, hydraulic torque converter, planetary gearbox, clutch and load of the vehicle is established. The experimental data of a test vehicle is used to verify the proposed dynamic model of the powertrain. The trajectory of clutch pressure during gearshift is optimized using hp-Legendre-Gauss-Radau method with the objective evaluation index. The test on a hardware in the loop (Hil) test bench is carried out, which can prove the proposed shift quality optimization method is effective to improve the shift quality during both traditional single transition gear shift and multi-transition gear-shift.

Key words: automatictransmission, shiftqualitycontrol, multi-transitiongearshift, trajectoryoptimization

中图分类号:

TJ810.3⁺21

李春明，简洪超，李娟，罗小梅，闫清东. 液力自动变速器换挡控制轨迹优化方法[J]. 兵工学报, 2020, 41(11): 2155-2169.

LI Chunming， JIAN Hongchao， LI Juan， LUO Xiaomei， YAN Qingdong. Control Trajectory Optimization Method of Automatic Transmission Gear-shift[J]. Acta Armamentarii, 2020, 41(11): 2155-2169.

参考文献

［1］闫清东, 张连第, 赵毓芹.坦克构造与设计 [M].北京: 北京理工大学出版社, 2007.
YAN Q D, ZHANG L D, ZHAO Y Q. Tank structure and design [M]. Beijing: Beijing Institute of Technology Press, 2007. （in Chinese）
[2］ NAUNHEIMER H, BERTSCHE B, RYBORZ J, et al. Automotive transmissions: fundamentals, selection, design and application [M]. 2nd ed. Berlin, Germany: Springer, 2010.
[3］ WEBB R H, WILSHIRE H G, Environmental effects of off-road vehicles: impacts and management in arid regions[M]. Berlin, Germany: Springer, 2012.
[4］ XU X Y, DONG P, LIU Y F, et al. Progress in automotive transmission technology[J]. Automotive Innovation, 2018, 1(3): 187-210.
[5］ JO H S, PARK Y I, LEE J M, et al. A study on the improvement of the shift characteristics for the passenger car automatic transmission[J]. International Journal of Vehicle Design, 2000, 23(3/4): 307-328.
[6］ GREINER J, GRUMBACH M. Automatic transmission systems beyond 2020-challenges and competition[R]∥Proceedings of SAE 2013 World Congress & Exhibition. Detroit, MI, US: SAE, 2013.
[7］ LU X, DAI Z, LI Q, et al. Closed loop slip control strategy for shifting clutches in hydraulic automatic transmission[C]∥Proceedings of the 27th Control and Decision Conference (CCDC). Qingdao,China: IEEE, 2015: 1741-1746.
[8］ GUO W, WANG S H, SU C G, et al. Method for precise controlling of the at shift control system[J]. International Journal of Automotive Technology, 2014, 15(4):683-698.
[9］ LEE S C, ZHANG Y, JUNG D Y, et al. A systematic approach for dynamic analysis of vehicles with eight or more speed automatic transmission[J]. Journal of Dynamic Systems, Measurement, and Control, 2014, 136(5): 051008-051014.
[10］ VUKOVICH W J, KOENIG M M, TSUNLOCK A Y. Double transition upshift control for an automatic transmission: US, 5050458[P]. 1991-09-24.
[11］ DOURRA H, KWAPIS D. Development of output torque equation for double swap shift control[C]∥Proceedings of SAE 2007 World Congress & Exhibition. Detroit, MI, US: SAE, 2007.
[12］ DOURRA H, KWAPIS D. Development of output torque equation for double swap shift control[C]∥Proceedings of SAE 2007 World Congress & Exhibition. Detroit, MI, US: SAE, 2007.
[13］ DOURRA H, DADA J. Double swap kickdown shift control: US 8974345[P]. 2015-03-10.
[14］ HAJ-FRAJ A, PFEIFFER F. Optimal control of gear shift operations in automatic transmissions[J]. Journal of the Franklin Institute, 2001, 338(2/3): 371-390.
[15］ HAJ-FRAJ A, PFEIFFER F. A model based approach for the optimisation of gearshifting in automatic transmissions[J]. International Journal of Vehicle Design, 2002, 28(1/2/3): 171-188.
[16］ KAHLBAU S, BESTLE D. Optimal shift control for automatic transmission[J]. Mechanics Based Design of Structures and Machines, 2013, 41(3): 259-273.
[17］ SONG X Y, SUN Z X, YANG X J, et al. Modelling, control, and hardware-in-the-loop simulation of an automated manual transmission[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2010, 224(2): 143-160.
[18］ DOLCINI P J. Contribution to the clutch comfort[D]. Grenoble, France: Institut National Polytechnique de Grenoble, 2007.
[19］ ZHAO Z G, CHEN H J, ZHEN Z X, et al. Optimal torque coordinating control of the launching with twin clutches simultaneously involved for dry dual-clutch transmission[J]. Vehicle System Dynamics, 2014, 52(6): 776-801.
[20］韦含. 电动车辆两挡行星变速系统换挡过程协调控制研究[D].北京：北京理工大学, 2015.
WEI H. Study on coordinnated control of the shifting process for electric vehicles with the two-speed planetary transmission[D]. Beijing: Beijing Institute of Technology, 2015. （in Chinese）
[21］杨斌. 某重型矿用汽车换挡品质最优控制方法研究[D]. 北京：北京理工大学, 2016.
YANG B. Research on optimal control method of gear shifting for heavy mining vehicles[D]. Beijing: Beijing Institute of Techno- logy, 2016. （in Chinese）
[22］ DOURRA H, MOURTADA A. Adaptive nth order lookup table used in transmission double swap shift control[C]∥Proceedings of SAE 2007 World Congress & Exhibition. Detroit, MI, US: SAE, 2008.
[23］ WU D, CHANG Y. Dynamic analysis and simulation of a double transition shift transmission[J]. International Journal of Vehicle Performance, 2013, 1(2): 119-136.
[24］ WU D, ZHANG Y, CHANG Y, et al. Dynamic analysis and simulation of driveability and control of a double transition shifting system[C]∥Proceedings of Vehicle Power and Propulsion Conference. Dearborn, MI, US: IEEE, 2009: 348-353.
[25］ CHANG Y, WU D. Simulation and studies on a double transition shift transmission[C]∥Proceedings of SAE 2010 World Congress & Exhibition. Detroit, MI, US: SAE, 2010.
[26］黎苏，黎晓鹰，黎志勤．汽车发动机动态过程及其控制[M]．北京：人民交通出版社， 2000．
LI S, LI X Y, LI Z Q. Dynamic process and control of vehicle engine[M].Beijing: China Communications Press, 2000. （in Chinese）
[27］李春芾. 重型车辆 AT 电液换档控制技术研究[D].北京：北京理工大学,2010.
LI C F. Study on electro-hydraulic shifting control strategy of AT on heavy-duty vehicle [D]. Beijing: Beijing Institute of Technology, 2010. （in Chinese）
[28］胡博钦. 大功率液力机械式自动变速器换挡控制策略研究[D]. 长春：吉林大学, 2016.
HU B Q. Shift control strategy of high power automatic transmission[D]. Changchun: Jilin University, 2016. （in Chinese）
[29］刘超越,张成.基于高斯伪谱法的二级助推战术火箭多阶段轨迹优化[J].兵工学报,2019,40(2):292-302.
LIU C Y, ZHANG C. Multi-stage trajectory optimization of tactical two-stage booster rocket based on gauss pseudospectral method[J]. Acta Armamentarii, 2019,40(2):292-302. （in Chinese）
[30］蔺君,何英姿,黄盘兴.带推力高超声速飞行器非连续点火再入轨迹研究[J].兵工学报,2020,41(7):1307-1316.
LIN J, HE Y Z, HUANG P X. Research on reentry trajectory of powered hypersonic vehicle with discontinuous ignition[J]. Acta Armamentarii,2020,41(7):1307-1316. （in Chinese）

[1]	张云飞，林德福，郑多，程子恒，唐攀. 多目标时空同步协同攻击无人机任务分配与轨迹优化[J]. 兵工学报, 2021, 42(7): 1482-1495.
[2]	孙一博，孟秀云. 滑翔飞行器多投放条件下飞行性能优化[J]. 兵工学报, 2021, 42(4): 781-797.
[3]	蔺君，何英姿，黄盘兴. 带推力高超声速飞行器非连续点火再入轨迹研究[J]. 兵工学报, 2020, 41(7): 1307-1316.
[4]	高峰, 郭锐, 丰志伟, 揭锦亮, 张青斌. 翼伞系统5段归航轨迹优化研究[J]. 兵工学报, 2020, 41(5): 1025-1033.
[5]	郑昱，广晨汉，李前，杨洋. 一种新型物料装填机器人的设计与轨迹优化[J]. 兵工学报, 2020, 41(4): 763-770.
[6]	刘超越，张成. 基于分布式并行伪谱-神经网络算法的双脉冲导弹多阶段协同轨迹优化[J]. 兵工学报, 2020, 41(10): 1988-2000.
[7]	刘超越，张成. 基于高斯伪谱法的二级助推战术火箭多阶段轨迹优化[J]. 兵工学报, 2019, 40(2): 292-302.
[8]	张松, 侯明善. 飞行器轨迹优化的造型降维方法[J]. 兵工学报, 2016, 37(6): 1125-1130.
[9]	张梦樱，唐乾刚，韩小军，张青斌，葛健全. 复杂约束条件下的再入轨迹迭代求解方法[J]. 兵工学报, 2015, 36(6): 1015-1023.