Optimizing Gearshift Control of Wet Dual Clutch Transmission
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摘要: 双离合变速器的换挡过程控制是其品质提升的关键, 提出了一种基于摩擦参数估计的换挡控制方法。首先, 基于扩展卡尔曼滤波设计出了估计湿式双离合器换挡过程中两个离合器传递扭矩的方法; 其次基于Stribeck摩擦模型建立了湿式离合器摩擦因数模型, 利用递推最小二乘法估计出了换挡过程中相应的系数并计算得到离合器接合过程中的实时动态摩擦因数; 最后使用模型预测控制优化出换挡过程中两个离合器的需求扭矩, 结合估计获得的动态摩擦因数逆推出液压执行机构的需求油压, 进而达到改善车辆换挡品质的目的。基于MATLAB/Simulink平台搭建了装备湿式双离合变速器的车辆模型并对提出算法进行了仿真验证, 仿真实验结果表明使用该控制方法后离合器换挡过程的冲击度和滑摩功都有所降低, 验证了该方法对改善湿式双离合变速器换挡品质的有效性。Abstract: The gearshift process control of wet dual clutch transmission is key to its quality improvement. This paper proposes a gearshift control algorithm based on friction parameters estimation. Firstly, based on the extended Kalman filter, the method for estimating the torques transmitted by two clutches during the gearshift process of the wet dual-clutch transmission is designed. Secondly, the friction coefficient model of the wet clutch is established based on the Stribeck friction model and its corresponding coefficients are estimated with the recursive least squares, and then the real-time dynamic friction coefficient during the gearshift process are calculated with the Stribeck friction model. Finally, the required torques of two clutches are optimized through the model predictive control during gearshift, and then the required oil pressure of a hydraulic actuator is inversely deduced with the required torques and the estimated dynamic friction coefficient to improve the gearshift quality of a vehicle. Based on the MATLAB/Simulink, the vehicle model equipped with the wet dual-clutch transmission is built and the proposed gearshift control algorithm is verified with simulation. The simulation results show that the jerk and friction work of the wet dual clutches during their gearshift process are reduced with the use of the proposed gearshift control algorithm. Its effectiveness for improving the gearshift quality of wet dual-clutch transmission is verified.
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表 1 摩擦参数分阶段标准
数据点 标准 参数名 近零滑动
(μNZ, m)xm≥xm, max
0≤||ωslip, m|-ωo||≤ωstickμs, est, m 低速滑动
(μLOW, m)xm≥xm, max
ωstick < ||ωslip, m||≤ωL-Hμd, est, m 高速滑动
(μHIGH.m)xm, max≥xm≥0.85xm, max|ωslip, m| > ωL-H δv, est, m 表 2 仿真使用的参数值
参数名 数值 参数名 数值 Jc1 0.043 kg·m2 ωL-H 15 rad/s Jc2 0.047 kg·m2 Tc1min 0 Jd 0.086 kg·m2 Tc1max 315 N·m Je 0.2 kg·m2 Tc2min 0 Jo 0.04 kg·m2 Tc2max 315 N·m Jv 149.94 kg·m2 ωemin 30 rad/s ig1 3.69 ωemax 735 rad/s ig2 2.24 Ts 0.01 s it1 4.16 Np 10 it2 3.76 Nc 2 f 0.02 λξ 0.632 Av 2.33 m2 Temax 250 Nm CD 0.3 Temin 0 rv 0.312 -500 Nm λs 0.503 500 Nm ω0 0.051 rad/s 表 3 EKF估计误差统计
参数 均方根误差/Nm 最大误差/Nm Tc1 2.86 5.44 Tc2 3.12 6.60 表 4 估计结果
参数 离合器C1 离合器C2 μs, est 0.002 5 0.002 1 μd, est 0.003 5 0.003 7 γv, est -0.000 411 -0.000 435 -
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