Torque coordinating robust control of shifting process for dry dual clutch transmission equipped in a hybrid car

For a hybrid car equipped with dual clutch transmission (DCT), the coordination control problems of clutches and power sources are investigated while taking full advantage of the integrated starter generator motor's fast response speed and high accuracy (speed and torque). First, a dynamic model of the shifting process is established, the vehicle acceleration is quantified according to the intentions of the driver, and the torque transmitted by clutches is calculated based on the designed disengaging principle during the torque phase. Next, a robust H_∞ controller is designed to ensure speed synchronisation despite the existence of model uncertainties, measurement noise, and engine torque lag. The engine torque lag and measurement noise are used as external disturbances to initially modify the output torque of the power source. Additionally, during the torque switch phase, the torque of the power sources is smoothly transitioned to the driver's demanded torque. Finally, the torque of the power sources is further distributed based on the optimisation of system efficiency, and the throttle opening of the engine is constrained to avoid sharp torque variations. The simulation results verify that the proposed control strategies effectively address the problem of coordinating control of clutches and power sources, establishing a foundation for the application of DCT in hybrid cars.     

Starting sliding mode variable structure that coordinates the control and real-time optimization of dry dual clutch transmissions

This paper researches the coordination of control between an engine and clutch at the system level to adequately reflect a driver’s intention and improve the starting performance of a vehicle equipped with a dry dual clutch transmission (DCT). Four-degree-of-freedom (DOF) starting dynamic equations are established for a dry DCT with a single intermediate shaft, and a two-DOF model of the sliding friction process and a single-DOF in-gear model of stable operation are obtained after simplifying these equations. Taking advantage of predictive control and a genetic algorithm, target tracing curves of the engine’s speed and the vehicle’s velocity are optimally specified online, and the starting sliding mode variable structure (SMVS) coordinating control strategy is designed to track these curves. The starting performance of a prototype car equipped with a dry DCT is simulated under different starting cases on the MATLAB/Simulink software platform. The simulation results show that the designed SMVS coordinating controller not only embodies driver intention and effectively improves the dry DCT car’s starting performance but is also highly robust when subjected to variations in the vehicle parameters.     

Optimal launching-intention-aware control strategy for automated clutch engagement

Clutch engagement control is critical during launching process in a vehicle equipped with an automated manual transmission (AMT), which is a problem including muti-objective optimization and nonlinear control. In this paper, a optimal launching-intention-aware control strategy is proposed for clutch engagement. Firstly, a launching-intention-aware machine (LIAM) based on artificial neural network (ANN) is designed to identify the driver’s launching intentions. Then the optimal laws of clutch engagement for different launching conditions are obtained based on the dynamic programming (DP), which regard friction loss, vehicle shock, angular acceleration of engine and engine torque as the optimizing indexes. Next, a slidingmode controller (SMC) is designed for the clutch engagement. Finally, the performances of the optimal laws and the SMC are validated by the joint simulation of Simulink-AMESim, and the results show that the requirements of vehicle launching are met. The proposed clutch engagement control strategy would provide a better theoretical support for the practical-extended application of AMT.     

基于扩展状态观测器和滑模控制的双离合器自动变速器起步自适应控制

双离合器自动变速器（Dual Clutch Transmission,DCT）随着服役时间的增加离合器性态会发生变化导致起步性能下降,为降低离合器性态变化对起步性能的影响,提出一种基于扩展状态观测器和滑模控制的DCT起步自适应控制方法。首先,建立DCT起步动力学模型、发动机模型和液压控制系统模型;将DCT起步问题转化为参考轨迹跟踪问题,通过工况识别并利用极小值原理获得了不同起步工况的参考轨迹;在DCT起步动力学模型中将与离合器性态变化相关的项定义为不确定项,设计扩展状态观测器对不确定项进行估计,同时结合自适应滑模控制器,获得了起步发动机转矩和离合器油压的自适应控制率;为了跟踪发动机转矩和离合器油压的自适应控制率,设计了发动机转矩跟踪控制器,同时对液压系统采用了PID闭环控制;通过MATLAB/Simulink平台仿真以及台架试验验证所提出的DCT起步控制方法对离合器性态变化的自适应效果。研究结果表明：所提出的起步自适应控制方法能够有效避免由离合器性态变化导致的起步延时,同时1挡缓起步和急起步的仿真冲击分别减小了53.11%和43.42%,试验起步冲击分别减小了35.66%和30.31%。     

Conceptual design of economic hybrid vehicle system using clutchless geared smart transmission

Most hybrid vehicles employ the continuously variable transmission (CVT or eCVT) currently as their choice of the transmissions. Recently, an automated geared transmission (AGT) or dual clutch transmission (DCT) is being tried for some hybrid vehicles for the better fuel economy than the CVT hybrid. However, this AGT or DCT is using automated clutches which require the hydraulic power in addition to the slippage in the clutch plate invoking some energy loss as well as wear. Also, they require a motor with significant power to match to the engine power. The clutchless geared smart transmission (CGST) has no clutch and the clutch function is performed by a planetary gear system controlled by a motor-generator. The hybrid vehicles proposed here using CGST may have some merits in durability, fuel efficiency, and cost since they do not have clutches. The motor used for the clutch function can be also working for power merge with the engine in propelling the vehicle. The proposed hybrid system can be either mild hybrid or full hybrid by adopting a different capacity of battery with much smaller motor-generator due to the planetary gear system compared to the other type hybrid vehicles. In this study, the prospects of newly proposed CGST hybrid system are examined in practical aspects compared with AGT hybrid or DCT hybrid systems.     

双离合器自动变速器换挡过程的内模控制

为提高双离合变速器的换挡过程平顺性,提出内模控制方法,提高离合器转速差的跟踪精度。设计转矩干扰补偿器来减小发动机端与负载端转矩扰动的影响,并基于平滑可微的参考转速差设计超前校正控制器。即使存在模型不确定与干扰,内模控制系统能维持稳定。仿真与台架实验结果表明,在不同参考输入与模型参数情况下,所提出的控制器均能达到较小的跟踪误差和平顺的换挡效果。     

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。     

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.     

基于32位微控制器MPC5604的双离合器自动变速器控制系统

基于32位微控制器MPC5604开发了双离合器自动变速器(DCT)控制系统。设计了换挡规律,制定了换挡控制策略、起步和换挡过程离合器及同步器执行机构的动作时序。根据DCT的结构特点及功能要求,实现了多任务控制系统,提出了基于表驱动的多任务调度方法。基于xPC560B硬件系统测试平台对所设计DCT控制系统功能进行了验证。结果表明,所开发的控制系统工作可靠,实现了起步、换挡过程的目标控制功能。     

Multi-state control strategy of starting for a wet friction clutch via a fuzzy logic algorithm

Wet multi-plate friction clutches are used in automotive drivelines to transfer torque, change gears, and prevent motion by locking-up components in the transmission. The control strategy of starting is a crucial technology for the application of a wet multi-plate friction clutch in the automotive industry. In this paper, a multi-state fuzzy control strategy for starting is presented and applied to a continuously variably transmission (CVT) powertrain for the validation of this strategy. The operation of the clutch was divided into four states: parking, starting, riding and emergency. The starting state was investigated in detail. A fuzzy algorithm was employed to control the pressure of the hydraulic cylinder acting on the clutch. A distinguishing feature is that the pressure does not increase but decreases to implement smooth starting during the initial period of starting. The rapid-control prototype (RCP) of the wet friction clutch was developed to validate the new control strategy onboard a test vehicle. Based on the experimental results, the multi-state control strategy for a wet friction clutch is a viable candidate for engineering applications.     

A model of driver steering control incorporating the driver's sensing of steering torque

Steering feel, or steering torque feedback, is widely regarded as an important aspect of the handling quality of a vehicle. Despite this, there is little theoretical understanding of its role. This paper describes an initial attempt to model the role of steering torque feedback arising from lateral tyre forces. The path-following control of a nonlinear vehicle model is implemented using a time-varying model predictive controller. A series of Kalman filters are used to represent the driver's ability to generate estimates of the system states from noisy sensory measurements, including the steering torque. It is found that under constant road friction conditions, the steering torque feedback reduces path-following errors provided the friction is sufficiently high to prevent frequent saturation of the tyres. When the driver model is extended to allow identification of, and adaptation to, a varying friction condition, it is found that the steering torque assists in the accurate identification of the friction condition. The simulation results give insight into the role of steering torque feedback arising from lateral tyre forces. The paper concludes with recommendations for further work.     

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。     

汽车起步过程离合器传递转矩精确计算分析

在分析汽车起步时电控机械式自动变速器的离合器转矩传递过程的基础上,建立了汽车起步时离合器传递转矩、滑磨功和压盘表面温升的精确计算模型;推导出以离合器主、从动盘相对转速和离合器片表面温度为主要影响因素的离合器片摩擦因数的公式;以某一轿车为实例,对其起步时离合器转矩传递特性进行仿真计算。     

AMT重型汽车起步离合器最优控制

建立了离合器系统动力学模型,针对离合器接合过程中的冲击度和滑摩功这一对矛盾,选取发动机转速和离合器从动侧转速作为状态变量,采取在冲击度满足乘坐舒适性的条件下滑摩功最小为目标的最优控制方法,将冲击度转化为最优控制的约束条件之一,避免了多目标优化中权重系数调整的难点。仿真与试验结果表明:在满足乘坐舒适性的前提下,采用最优位移控制能够保证滑摩功最小,简化了控制系统,增强了控制系统的通用性和可移植性。     

基于分段控制的CVT湿式离合器起步控制策略

针对湿式离合器起步结合过程的几个阶段的工作特点,建立离合器起步的分段控制策略,空行程阶段以一较大占空比快速接合,克服阻力阶段选择合适的初始占空比缩短克服阻力时间,速度增长阶段根据油门开度以及开度变化率的模糊推理和利用发动机转速差进行修正得出用于实时控制的占空比变化率。根据上述控制策略,设计带修正的模糊控制器。通过对控制策略的试验,结果表明实施针对各阶段工作特点的控制策略,起步过程能够在适应驾驶员起步意图的前提下,优化起步冲击度、滑磨功性能指标,同时提高了起步的灵敏度,保证了发动机的稳定运转。     

基于最优控制理论的DCT离合器升挡作动方式的研究

建立了双离合器式自动变速器起步、换挡动力学模型.利用线性二次型最优控制理论研究了离合器接合、分离规律.提出了3种改进的离合器作动方式,并对它们进行了仿真和比较分析.     

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。     

DCT直线型换挡动力学仿真（续1）

为了使汽车冲击度和离合器滑摩功能够满足换挡品质的要求,文章对装有双离合器自动变速器（DCT）的汽车进行了动力学仿真分析,建立其变速器动力传动系统模型。并针对变速器直线型换挡过程中冲击度和滑摩功难以同时达到最优的问题,采用遗传算法对离合器油压值进行优化控制,获得油压-时间的最优控制曲线,将优化后的控制曲线代入仿真模型,结果表明,冲击度和滑摩功均达到较为理想的状态。     

汽车离合器常见故障分析及排除

汽车离合器作为传递和切断发动机动力的装置,离合压盘及摩擦片之间经常会处于相对运动状态,因磨损、变形或摩擦副匹配等因素,容易造成离合器故障,如起步抖动、异响、分离不清、打滑烧蚀等,从而影响车辆驾乘舒适性,甚至影响车辆的正常使用,文章通过对离合系统工作原理介绍,结合笔者多年对离合器问题处理的实际工作经验,对离合器常见故障的可能因素进行分析,并提供相应的解决方案。     

Capacity estimation of torque converters with piston holes using the response surface method and an artificial neural network

In new slim torque converters, lock-up clutches are used to provide high fuel efficiency at low speed. However, the slimness of the converters causes difficulty in heat dissipation, which may damage the friction material and shorten its life span. A cooling hole in the lock-up piston reduces the heat but also reduces the torque because oil flows through the hole due to the pressure difference between the two faces of the piston. In the early stages of the development of this type of torque converter, designers must consider the minimum flow rate required to cool the friction material and the minimum torque capacity required to transmit the engine torque. This research explored two methods of estimating these parameters. In the first method, an estimation equation was derived by combining the response surface method with physical properties such as the centrifugal force, a sudden expansion, a sudden contraction, and the steady flow energy equation. The second method involved the use of an artificial neural network. The feasibility of the estimates based on statistics and on the artificial neural network were confirmed in the design stage by comparing experimental and estimated data. An estimation program was created using the C#.Net language and has been used for actual torque converter designs by the Korea Powertrain Company.