Engine clutch torque estimation for parallel-type hybrid electric vehicles

This paper mainly focuses on the accurate estimation of the torque transferred through the engine clutch installed between the engine and the drive motor in parallel-type hybrid electric vehicles. The estimation of the engine clutch torque primarily relies on the forward-direction observer which uses the nominal engine net torque information. To overcome the limitation of using the nominal engine torque information that it may not be accurate during the transient states or due to the influence of external disturbance such as the road condition and wind, the forward-direction observer is supplemented by the use of reverse-direction observer which uses the driveline model and wheel speed measurements. In addition, the drive motor torque information is used to calibrate the nominal engine torque during the idle charging state, so that the driveline characteristic unique to parallel-type hybrid electric vehicle can be utilized to increase the estimation accuracy. Finally, the estimation performance of the designed observer is tested via simulation and experiments based on a real vehicle.     

Observer-based clutch disengagement control during gear shift process of automated manual transmission

A clutch disengagement strategy is proposed for the shift control of automated manual transmissions. The control strategy is based on a drive shaft torque observer. With the estimated drive shaft torque, the clutch can be disengaged as fast as possible without large driveline oscillations, which contributes to the reduction of total shift time and shift shock. The proposed control strategy is tested on a complete powertrain simulation model. It is verified that the system is robust to the variations of driving conditions, such as vehicle mass and road grade. It is also demonstrated that the revised system with switched gain can provide satisfactory performance even under large estimation error of the engine torque.     

一种三轮客车用的新型传动系统

本项目应用于三轮客车、正三轮客车和四轮沙滩车,它带有倒档和2个前进档的变速器安装在差速器半轴全浮式驱动桥主传动锥齿轮轴上。与传统传动系统相比,车辆输出转矩和速度变化范围扩大,整车动力性和经济性得到提高。     

Analysis of the shifting behavior of a novel clutchless geared smart transmission

Conventional geared transmissions use some kinds of clutches to control the power flow from an internal combustion engine to the driveline while shifting gears. However, the shifting performance is seriously affected by the clutch engagement and an unavoidable drop in the torque may occur when the clutch is disconnected. Moreover, wear of the clutch, the need for hydraulic equipment, and the load limit may together aggravate the limits of the clutch system. For this reason, as a novel transmission without a clutch, the clutchless geared smart transmission (henceforth CGST) is proposed by our research team. The CGST controls the power flow in a multiple-input gear-train by controlling the electric motor attached to the planetary gear system. However, no CGST has been realized in an actual vehicle thus far, and the performance has been predicted only theoretically. In this research, we analyzed the achievable performance based on a developed CGST dynamic model with a typical CGST structure. In addition, a CGST gear-shifting algorithm is proposed for use with the dynamic model. From the simulation results, the CGST does not show an abrupt drop in its torque or oscillation while shifting gears due to the absence of a discontinuous power flow. The developed dynamic model can serve as a performance reference for the CGST. Moreover, it can be used as a simulation tool for developing a gear-shifting control logic scheme.     

Dynamics Analysis of Torsional Vibration Induced by Clutch and Gear Set in Automatic Transmission

The torsional vibration generated during clutch engagement directly affects the shifting quality of automatic transmissions, where the noise source stems from both the clutch and the gear set. To predict the dynamical response and driveline oscillation, a comprehensive mathematical model of the vehicle powertrain equipped with automatic transmission is developed with consideration of nonlinearities in the clutch and the planetary gear set. For the clutch, the dynamics of stickslip is described for the transition between the slipping to locked states. The gear backlash model is used to analyze the rattle noise of the planetary gear set. Based on extensive powertrain simulations for the clutch engagement process, the magnitude of vibration propagation in the driveline are predicted to identify the primary factors of noise generation.     

Powertrain Control for Active Damping of Driveline Oscillations

When a vehicle is subjected to acceleration or disturbances, the elasticity of the various components in the driveline may cause torsional vibrations which can result in an oscillating vehicle speed. These driveline oscillations are also known as shuffle and are low frequency oscillations corresponding to the first resonance frequency of the driveline. The oscillations give rise to, apart from material stress, noticeable lessened driveability. In this work, different ways to actively damp the oscillations are investigated. The idea is to use the engine as an actuator in order to achieve active damping, so-called active engine control. Different linear controllers are investigated and evaluated. The paper includes driveline modelling, control design and verifications by simulations, and tests in real vehicle. Implementation issues such as limited amount of available engine torque and parameter identifications are also discussed. A Linear-Quadratic-Gaussion (LQG) controller has been implemented and tested on a heavy duty truck. Results show that the LQG controller works well and active damping is achieved.     

Powertrain Control for Active Damping of Driveline Oscillations

When a vehicle is subjected to acceleration or disturbances, the elasticity of the various components in the driveline may cause torsional vibrations which can result in an oscillating vehicle speed. These driveline oscillations are also known as shuffle and are low frequency oscillations corresponding to the first resonance frequency of the driveline. The oscillations give rise to, apart from material stress, noticeable lessened driveability. In this work, different ways to actively damp the oscillations are investigated. The idea is to use the engine as an actuator in order to achieve active damping, so-called active engine control. Different linear controllers are investigated and evaluated. The paper includes driveline modelling, control design and verifications by simulations, and tests in real vehicle. Implementation issues such as limited amount of available engine torque and parameter identifications are also discussed. A Linear-Quadratic-Gaussion (LQG) controller has been implemented and tested on a heavy duty truck. Results show that the LQG controller works well and active damping is achieved.     

Simulation model of an electrohydraulic-actuated double-clutch transmission vehicle: modelling and system design

Automated and manual transmissions are the main link between engine and powertrain. The technical term when the transmission provides the desired torque during all possible driving conditions is denoted as powertrain matching. Recent developments in the last years show that double-clutch-transmissions (DCTs) are a reasonable compromise in terms of production costs, shifting quality, drivability and fuel efficiency. They have several advantages compared to other automatic transmissions (AT). Most DCTs nowadays consist of a hydraulic actuation control unit, which controls the clutches of the gearbox in order to induce a desired drivetrain torque into the driveline. The main functions of hydraulic systems are manifold: they initiate gear shifts, they provide sufficient oil for lubrication and they control the shift quality by suitably providing a desired oil flow or pressure for the clutch actuation. In this paper, a mathematical model of a passenger car equipped with a DCT is presented. The objective of this contribution is to get an increased understanding for the dynamics of the hydraulic circuit and its coupling to the vehicle drivetrain. The simulation model consists of a hydraulic and a mechanical domain: the hydraulic actuation circuit is described by nonlinear differential equations and includes the dynamics of the line pressure and the proportional valve, as well as the influence of the pressure reducing valve, pipe resistances and accumulator dynamics. The drivetrain with its gear ratios, moments of inertia, torsional stiffness of the rotating shafts and a simple longitudinal vehicle model represent the mechanical domain. The link between hydraulic and mechanical domain is given by the clutch, which combines hydraulic equations and Newton's laws. The presented mathematical model may not only be used as a simulation model for developing the transmission control software, it may also serve as a virtual layout for the design process phase. At the end of this contribution a parametric study shows the influence of the mechanical components, the accumulator and the temperature of the oil.     

Optimal torque coordinating control of the launching with twin clutches simultaneously involved for dry dual-clutch transmission

As for the self-developed six-speed dry dual-clutch transmission (DCT), the optimal torque-coordinated control strategy between engine and dual clutches is proposed to resolve the problem of launching with twin clutches simultaneously involved based on the minimum value principle. Focusing on the sliding friction phase of the launching process, dynamics equations of dry DCT with two intermediate shafts are firstly established, and then the optimal transmitting torque variation rate and the driven plate's rotating speed of dual clutches are deduced by using the minimum value principle, in which the jerk intensity and friction work are taken as the performance indexes, and the terminal constraints of state variables are determined according to the driver's launching intention. Besides, the separating conditions of non-target gear clutch and the torque distributing relations of twin clutches are derived from the launching control targets that guarantee the approximately equal friction extent of two clutches and no power cycle. After the synchronisation of driving and driven plates of on-coming clutch, the output torque of engine is smoothly switched to the driver's demand level. Furthermore, launching the simulation model of the dry DCT vehicle is set up on the Matlab/Simulink platform. Simulation results indicate that the proposed launching control strategy not only can effectively reflect the driver's intention and extend the life span of twin clutches, but also obtain an excellent launching quality. Finally, the torque control laws of two clutches obtained through the simulation are transformed into clutch position control laws for the future realisation in the real car, and the closed-loop position controls of twin clutches in the launching process are conducted on the test bench with two sets of clutch actuator, obtaining preferable tracking effects.     

转矩式限滑差速器对后轮驱动汽车操纵稳定性影响的研究

采用7自由度车辆动力学模型,对装用JA1020LSD型转矩式限滑差速器的后轮驱动汽车进行了操纵稳定性研究。通过仿真分析和道路试验研究表明:装用限滑差速器后增加了后轮驱动车辆的不足转向趋势,即改善了操纵稳定性,但转向力矩略有增加。     

Improved optimal controller for start-up of amt trucks in consideration of driver’s intention

A linear-quadratic optimal controller is proposed for vehicle start-up, which is designed as a linear feedback form of the states and the measured (estimated) disturbances. The requirements of less friction loss and less driveline shock are represented by the weighting matrices of the cost function. The driver’s intension is also considered and the controller gains are adjusted on-line accordingly. The designed control strategy is tested on a complete powertrain simulation model. Through large amount of simulations, it is verified that the system is robust to the variations of driving conditions, such as variation of vehicle mass and road grade. It is also shown that the control performance is influenced greatly by the estimation error of engine torque and clutch torque, and the acceptable level of mean estimation error is about ±10%.     

重型汽车传动系结构参数设计

分析了基于发动机特性场的重型汽车传动系结构参数设计的原则，讨论了传动系各速比设计的评价目标和方法。通过对最大传动比、最小传动比、中间速比设计原则的讨论，阐述了传动系主要结构参数的设计思路。以某车型已确定的发动机特性场为例，根据使用要求，着重分析了在按照国家标准和实际使用情况下提高燃油经济性的传动系结构参数优化。     

A new formulation of the understeer coefficient to relate yaw torque and vehicle handling

The handling behaviour of vehicles is an important property for its relation to performance and safety. In 1970s, Pacejka did the groundwork for an objective analysis introducing the handling diagram and the understeer coefficient. In more recent years, the understeer concept is still mentioned but the handling is actively managed by direct yaw control (DYC). In this paper an accurate analysis of the vehicle handling is carried out, considering also the effect of drive forces. This analysis brings to a new formulation of the understeer coefficient, which is almost equivalent to the classical one, but it can be obtained by quasi-steady-state manoeuvres. In addition, it relates the vehicle yaw torque to the understeer coefficient, filling up the gap between the classical handling approach and DYC. A multibody model of a Formula SAE car is then used to perform quasi-steady-state simulations in order to verify the effectiveness of the new formulation. Some vehicle set-ups and wheel drive arrangements are simulated and the results are discussed. In particular, the handling behaviours of the rear wheel drive (RWD) and the front wheel drive (FWD) architectures are compared, finding an apparently surprising result: for the analysed vehicle the FWD is less understeering than for RWD. The relation between the yaw torque and the understeer coefficient allows to understand this behaviour and opens-up the possibility for different yaw control strategies.     

P2结构混合动力系统协同控制

为了提高混合动力各系统的控制效率和响应性,针对P2结构混合动力系统控制对象的特点和整车的功能需求,提出了P2结构混合动力控制系统的构架和所有有效的工作模式,并从整车运行工况和模式转换效率的角度总结了所有有效的工作模式转换真值矩阵。为了满足各节点单元的协同控制要求,提出了P2混合动力控制系统的协同控制构架,约束了各控制单元的主要功能和接口定义,并对多个控制单元之间的复合控制过程进行描述。分析了2种不同动力源在液压控制的混合动力离合器的耦合过程以及混合动力离合器与换挡离合器控制过程重叠时所带来的动力迟滞,对离合器的压力控制和发动机的启动过程时序进行了优化。在不同的控制阶段定义了关键的控制目标,建立发动机扭矩、电机扭矩、混合动力离合器控制压力三者之间的关联。结果表明：发动机、电机、变速器之间通过HCU的协同控制方法能够高效地完成混动工作模式之间的转换。整车试验验证了各系统的系统控制效果,整个模式转换过程的时间为1.5 s,换挡品质和动力响应性满足驾驶需求。     

基于扭矩控制的AMT换挡控制策略研究

提出在车辆起步和换挡过程中通过CAN动力网络控制发动机的输出扭矩来改善AMT换挡品质的新方法,制定扭矩控制与离合器接合控制策略,并在装有AMT的某重型商用车上进行试验。试验结果表明,换挡过程中通过控制发动机的输出扭矩并与离合器的接合过程相协调,可显著提高AMT的换挡品质。     

基于补偿滑模控制的混合动力汽车协调控制

由于行星排功率分流式混合动力汽车的结构优势,双行星排功率分流式混合动力汽车已经成为各机构的研究重点。由纯电动模式到混合驱动模式切换的过程中存在发动机起动和发动机转矩引入,而发动机转矩瞬态响应存在迟滞,导致切换过程中动力系统的输出转矩会有较大波动。为减小波动,降低模式切换过程中的动态冲击度,本文中提出补偿滑模控制方法,对双行星排功率分流式混合动力汽车模式切换进行协调控制。首先,建立整车动力学模型,对切换过程每个模式进行分析;之后,针对发动机拖转阶段和混合驱动阶段分别采用补偿控制和基于固定边界层的自适应滑模控制,并对滑模控制进行稳定性分析;最后,结合Matlab/Simulink软件平台进行仿真验证。仿真结果表明,补偿滑模协调控制策略能够有效地减小从纯电动到混合驱动模式切换过程中的转矩波动和冲击度。     

P2混动自动变速器的离合器自适应控制

为了解决混合动力系统动力耦合的响应性和舒适性问题，建立混动离合器C0起动发动机过程和并联动力输出模式下的功率流模型。对C0起动发动机的控制过程进行仿真分析，针对C0的起动扭矩和电机的输出扭矩在时间和空间上的匹配问题，提出以换挡离合器的滑摩控制来进行缓冲的策略。为了实现稳定精确的发动机起动控制，消除各自的扭矩控制、液压系统特性的误差，提出C0离合器起动发动机的自适应控制和B1离合器滑摩自适应控制，以换挡离合器滑差和发动机转速的超调量为监控对象，对C0离合器各阶段压力控制参数进行自适应调整，以优化发动机起动过程。研究结果表明：通过换挡离合器的滑摩控制可以很好地解决C0离合器扭矩和电机扭矩的匹配问题，即使在换挡过程中对发动机起动也能保证良好的舒适性，并控制过程时间在1.5 s内；在整车试验过程中，通过对C0压力的自适应调整，发动机转速的超调和起动冲击问题均可以得到有效解决。     

机械式自动变速器起车过程综合控制

分析机械式自动变速器在各种工况下起车离合器接合过程，以起车冲击度和滑摩功均较小为原则，来实现离合器结合的平顺性。根据油门开度、发动机转速、输入轴转速计算发动机的负荷能力，控制离合器传递的扭矩使发动机输出扭矩与离合器扭矩匹配。另外建立滑摩功与离合器温升的模型，防止离合器摩镣片过温损坏。据此建立起车离合器控制MAP图，已应用于某车型的AMT样车上。     

汽车手动变速器六档设置的必要性分析

手动变速器是使用手拨动变速杆改变变速器内的齿轮啮合位置,进而改变传动比,改变发动机传到驱动轮上的转速和转矩,完成原地起步、爬坡、转弯、加速等功能。而六档的设置不仅可以提升换挡和行驶的平顺性、降低汽车的燃油消耗量、提升发动机的使用寿命,还能够更好地适应现代城市道路的实际交通现状和车主高速道路行驶的客观愿望等,因此六档(前进挡)的设置就显得尤为必要。     

混合动力汽车燃油经济性研究

应用能量分析的方法,以轿车和载货汽车为例,研究了混合动力汽车(HEV)与传统燃油发动机汽车的燃油经济性。发现按原车后备功率最大值时所对应的车速所需的驱动功率作为HEV燃油发动机功率的选择依据,节油效果最显著。当燃油驱动功率和电动驱动功率各占50%左右时,HEV轿车的经济性评价指标为原车的22.8%,HEV货车的经济性评价指标为原车的79.2%,同时又能保证动力性基本不变。结果表明,用混合动力可以有效地降低汽车的100km燃料消耗量,轿车的燃料消耗降低幅度大于货车。