林树森,焦卫东,曹振新,吴江妙,张兰春.基于逆系统方法的直驱式AMT换挡控制方法[J].农业机械学报,2015,46(6):303-309.
Lin Shusen,Jiao Weidong,Cao Zhenxin,Wu Jiangmiao,Zhang Lanchun.Gearshift Control of Direct-drive AMT Gearshift System Based on Inverse System Method[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(6):303-309.
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基于逆系统方法的直驱式AMT换挡控制方法   [下载全文]
Gearshift Control of Direct-drive AMT Gearshift System Based on Inverse System Method   [Download Pdf][in English]
投稿时间:2014-09-12  
DOI:10.6041/j.issn.1000-1298.2015.06.044
中文关键词:  电控机械式自动变速器  直驱  换挡控制  逆系统  扩张状态观测器
基金项目:国家自然科学基金资助项目(51305175)、浙江省杰出青年科学基金资助项目(R1100002)和浙江省科技计划资助项目(2013C31110)
作者单位
林树森 浙江师范大学 
焦卫东 浙江师范大学 
曹振新 浙江师范大学 
吴江妙 浙江师范大学 
张兰春 江苏理工学院 
中文摘要:为提高直驱式AMT换挡品质的稳定性,针对2自由度电磁执行器的特性引入逆系统控制方法。阐述了执行器的结构及工作原理,通过建模分析了执行器参数耦合现象,执行器静态特性测试表明其输出特性具有非线性的特点。引入逆系统方法并分析系统的可逆性,建立执行器的伪线性系统并根据线性系统理论设计状态反馈控制器。扩张状态观测器的引入提高了系统在摩擦阻力时变条件下的输出特性稳定性。仿真与试验结果表明,基于逆系统方法的换挡控制受参数变化影响小,位移控制精度较高,执行器输出特性较为稳定,基于逆系统方法的直驱式AMT换挡性能较为突出,有利于提升AMT竞争力。
Lin Shusen  Jiao Weidong  Cao Zhenxin  Wu Jiangmiao  Zhang Lanchun
Zhejiang Normal University,Zhejiang Normal University,Zhejiang Normal University,Zhejiang Normal University and Jiangsu University of Technology
Key Words:Automated manual transmission  Direct-drive  Gearshift control  Inverse system  Extended state observer
Abstract:To improve the shift performance stability of the direct-drive automated manual transmission (AMT) gearshift system, inverse system method (ISM) was introduced according to the characteristics of 2-DOF electromagnetic actuator. The structure and working principle of the actuator were described, and the analysis of the mathematical model indicated that the parameters of the actuator affected each other. Static characteristics experiments proved that the output characteristics were nonlinear. The reversibility of the system was analyzed and ISM was adopted to build the pseudo-linear system, and the state feedback controller was designed according to the linear system theory. Extended state observer (ESO) was added to weaken the influence of time varying friction force to the stability of the output characteristics. The simulation and experiment results indicate that controlled by the ISM—ESO controller, the gearshift performance is robust to variable parameters. The precision of displacement control is better. The stability of the output characteristics is improved. Based on the inverse system method, the gearshift performance of the direct-drive automated manual transmission is relatively excellent, and it is conducive to improve the competitiveness of AMT.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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