基于驱动电机与湿式离合器协调控制的电动装载机无动力中断换挡策略研究

doi:10.3901/JME.2022.11.046

机械工程学报 ›› 2022, Vol. 58 ›› Issue (11): 46-56.doi: 10.3901/JME.2022.11.046

扫码分享

基于驱动电机与湿式离合器协调控制的电动装载机无动力中断换挡策略研究

蔡少乐, 陈其怀, 林添良, 任好玲, 付胜杰, 许铭楷

华侨大学机电及自动化学院厦门 361021

收稿日期:2021-08-24 修回日期:2021-12-13 出版日期:2022-06-05 发布日期:2022-08-08
通讯作者: 林添良(通信作者),男,1983年出生,博士,教授,博士研究生导师。主要研究方向为工程机械绿色智能化。E-mail:ltlkxl@163.com
作者简介:蔡少乐,男,1996年出生。主要研究方向为电动化工程机械行走控制。E-mail:CaiSL_justdoit@163.com
基金资助:
国家重点研发计划项目(2020YFB2009900)、国家自然科学基金项目(51875218)、流体动力与机电系统国家重点实验室开放基金(GZKF-202026)和福建省高校产学研重大项目(&2019 H6015)资助项目

Power Uninterrupted Shift Strategy of Electric Loader Based on Coordinated Control of Drive Motor and Wet Clutch

CAI Shaole, CHEN Qihuai, LIN Tianliang, REN Haoling, FU Shengjie, XU Mingkai

College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021

Received:2021-08-24 Revised:2021-12-13 Online:2022-06-05 Published:2022-08-08

摘要/Abstract

摘要： 电动化是工程机械理想的驱动方式之一。为了提高电动工程机械电驱动的优势和增加整车的续航，将传统机型上传动效率较低的液力变矩器与变速器进行了解耦，由驱动电机直接驱动某款自主研发的动力换挡变速器。分析各阶段湿式离合器的运动状态，并建立驱动电机-动力换挡变速器换挡过程的简化动力学模型。针对该电动理想传动方案换挡过程的非线性和时变性系统，提出一种基于驱动电机与湿式离合器协调控制的电动装载机无动力中断换挡策略。由离合器压力与驱动电机转速、扭矩闭环的协调控制，实现理想建压分阶段自适应控制。惯性相阶段设计了滑摩控制器，采用PID算法控制驱动电机输出合适的扭矩，使结合的湿式离合器转速差跟踪期望转速差轨迹。最后，基于AMESim-Matlab/Simulink的联合仿真模型进行研究，并搭建试验台架，验证了控制理论和控制策略的正确性和可行性，为今后电动工程机械传动系统方案和换挡控制提供了参考。

关键词: 工程机械, 纯电驱动, 变速器, 电液控制, 无动力中断, 换挡品质

Abstract: In order to improve the advantage of electric driving and increase endurance for electric construction machinery, the hydraulic torque converter with low transmission efficiency of traditional models is coupled with the planetary gear transmission, and the driving motor directly drives a self-developed power shift transmission. The movement state of the wet clutch in each stage is analyzed, and a simplified dynamic model of the shift process of the drive motor power shift transmission is established. Aiming at the non-linear and time-varying system in the shift process of the electric ideal transmission scheme, a power uninterrupted shift strategy of Electric Loader based on the coordinated control of driving motor and wet clutch is proposed. By the coordinated control of clutch pressure and drive motor speed, torque closed-loop, the ideal pressure build-up stage adaptive control is realized. In the inertia phase, the sliding friction controller is designed, and the PID algorithm is used to control the drive motor to output the appropriate torque, so that the combined wet clutch speed difference can track the desired speed difference trajectory. Finally, the co-simulation model based on AMESim and Matlab/Simulink is studied, and the test platform is built to verify the correctness and feasibility of the control theory and control strategy, which provides a reference for the transmission system scheme and shift control of electric construction machinery in the future.

Key words: construction machinery, pure electric drive, transmission, electro-hydraulic control, power uninterrupted, shift quality

中图分类号:

TH139

蔡少乐, 陈其怀, 林添良, 任好玲, 付胜杰, 许铭楷. 基于驱动电机与湿式离合器协调控制的电动装载机无动力中断换挡策略研究[J]. 机械工程学报, 2022, 58(11): 46-56.

CAI Shaole, CHEN Qihuai, LIN Tianliang, REN Haoling, FU Shengjie, XU Mingkai. Power Uninterrupted Shift Strategy of Electric Loader Based on Coordinated Control of Drive Motor and Wet Clutch[J]. Journal of Mechanical Engineering, 2022, 58(11): 46-56.

参考文献

[1] GE L, QUAN L, ZHANG X, et al. Power matching and energy efficiency improvement of hydraulic excavator driven with speed and displacement variable power source[J]. Chinese Journal of Mechanical Engineering, 2019, 32(6):152-163.
[2] OUYANG M G, JIUYU D U, PENG H, et al. Progress review of US-China joint research on advanced technologies for plug-in electric vehicles[J]. SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2018, 61(10):1431-1445.
[3] LIN Tianliang, YAO Yu, XU Wenjie, et al. Driverless walking method of electric construction machinery based on environment recognition[J]. Journal of Mechanical Engineering, 2021, 57(10):42-49. 林添良, 姚瑜, 许文杰, 等. 基于环境识别的电动工程机械无人驾驶行走方法[J]. 机械工程学报, 2021, 57(10):42-49.
[4] FU Shenghui, GU Jinheng, LI Zhen, et al. Pressure control method of wet clutch for PST of high-power tractor based on MFAPC algorithm[J]. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(12):367-376. 傅生辉, 顾进恒, 李臻, 等. 基于MFAPC的动力换挡变速箱湿式离合器压力控制方法[J]. 农业机械学报, 2020, 51(12):367-376.
[5] OH J J, CHOI S B, KIM J. Driveline modeling and estimation of individual clutch torque during gear shifts for dual clutch transmission[J]. MECHATRONICS, 2014, 24(5):449-463.
[6] OH J J, CHOI S B. Real-time estimation of transmitted torque on each clutch for ground vehicles with dual clutch transmission[J]. IEEE/ASME Transactions on Mechatronics, 2015, 20(1):24-36.
[7] OH J J, EO J S, CHOI S B. Torque observer-based control of self-energizing clutch actuator for dual clutch transmission[J]. IEEE Transactions on Control Systems Technology, 2017, 25(5):1856-1864.
[8] WALKER P D, ZHANG N, TAMBA R. Control of gear shifts in dual clutch transmission powertrains[J]. MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2011, 25(6):1923-1936.
[9] HU Y, TIAN L, GAO B, et al. Nonlinear gearshifts control of dual-clutch transmissions during inertia phase[J]. ISA Transactions, 2014, 53(4):1320-1331.
[10] WU M. Hamilton Jacobi Inequality based sliding mode robust control for optimal torque transmissions of dry dual clutch assembly in torque phase of shift[C]//IEEE International Conference on Mechatronics & Automations, IEEE, 2017:1900-1905.
[11] KIM J, CHOI S B, OH J J. Adaptive engagement control of a self-energizing clutch actuator system based on robust position tracking[J]. IEEE/ASME Transactions on Mechatronics, 2018, 23(2):800-810.
[12] GAO B, CHEN H. A reduced-order nonlinear clutch pressure observer for automatic transmission[J]. IEEE Transactions on Control Systems Technology, 2010, 18(2):446-453.
[13] SUN Wentao, CHEN Huiyan, WU Chunci. Shifting process adaptive control strategy with electronic automatic transmission[J]. Journal of Mechanical Engineering, 2009, 45(1):293-299. 孙文涛, 陈慧岩, 伍春赐. 电控自动变速器换挡过程自适应控制策略[J]. 机械工程学报. 2009, 45(1):293-299.
[14] LI Chunming, JIAN Hongchao, LI Juan, et al. Control trajectory optimization method of automatic transmission gear-shift[J]. Acta Armamentarii, 2020, 41(11):2155-2169. 李春明, 简洪超, 李娟, 等. 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.
[15] FANG S, JIAN S, SONG H, et al. Design and control of a novel two-speed uninterrupted mechanical transmission for electric vehicles[J]. Mechanical Systems and Signal Processing, 2016, 75:1.
[16] TANELLI M, PANZANI G, SAVARESI S M, et al. Transmission control for power-shift agricultural tractors:Design and end-of-line automatic tuning[J]. Mechatronics, 2010, 21(1):1.
[17] LIU Yonggang, ZHANG Jingchen, WAN Yougang, et al. Intelligent knowledge-based shifting control of dual clutch transmission[J]. Journal of Mechanical Engineering, 2021, 57(17):185-195. 刘永刚, 张静晨, 万有刚, 等. 基于知识的双离合器自动变速器换挡智能控制[J]. 机械工程学报, 2021, 57(17):185-195.
[18] ZHANG Zhigang. Study on several working characteristics of wet clutch[D]. Hangzhou:Zhejiang University, 2010. 张志刚. 关于湿式离合器几个工作特性研究[D]. 杭州:浙江大学, 2010.
[19] TIAN Y, RUAN J, ZHANG N, et al. Modelling and control of a novel two-speed transmission for electric vehicles[J]. Mechanism and Machine Theory, 2018, 127:13-32.

基于驱动电机与湿式离合器协调控制的电动装载机无动力中断换挡策略研究

Power Uninterrupted Shift Strategy of Electric Loader Based on Coordinated Control of Drive Motor and Wet Clutch

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	任好玲, 吴江东, 林添良, 张春晖, 李玉坤. 基于多传感器紧耦合的工程机械定位与建图系统[J]. 机械工程学报, 2023, 59(24): 323-333.
[2]	梁涛, 权龙, 葛磊, 王永进. 基于电液储能调控的多执行器载荷差异均衡系统特性研究[J]. 机械工程学报, 2023, 59(18): 337-348.
[3]	刘永刚, 张静晨, 王鑫, 张学勇, 吕豪, 秦大同. 摩擦因数自适应的双离合器自动变速器起步智能控制[J]. 机械工程学报, 2023, 59(10): 197-209.
[4]	郭栋, 周仪, 周益, 罗瑞田, 任杰. 双离合变速器预选档策略下齿轮敲击动力学分析[J]. 机械工程学报, 2022, 58(24): 198-210.
[5]	蔡文奇, 韩毓东, 岳汉奇, 高炳钊. 电动车两档变速箱非接触超越离合器的优化设计[J]. 机械工程学报, 2022, 58(16): 270-279.
[6]	韩玲, 赵伟, 曹越, 王金武. 润滑机制下基于最小作用量原理的CVT传动安全裕度优化研究[J]. 机械工程学报, 2022, 58(10): 222-234.
[7]	郝云晓, 乔舒斐, 夏连鹏, 权龙, 赵斌. 液电混合直线驱动系统耦合特性及位置控制[J]. 机械工程学报, 2021, 57(22): 386-394.
[8]	程一帆, 张国旭, 洪金龙, 高炳钊, 陈虹. 提升车辆驾驶品质的干式离合器抗扰最优滑磨控制[J]. 机械工程学报, 2021, 57(20): 194-205.
[9]	刘永刚, 张静晨, 万有刚, 孙冬野, 秦大同. 基于知识的双离合器自动变速器换挡智能控制[J]. 机械工程学报, 2021, 57(17): 185-195.
[10]	林添良, 姚瑜, 许文杰, 付胜杰, 任好玲, 陈其怀. 基于环境识别的电动工程机械无人驾驶行走方法[J]. 机械工程学报, 2021, 57(10): 42-49.
[11]	赵治国, 倪润宇, 姜斯文, 雷丹. DCT变速四驱HEV混动至纯电动模式切换优化控制[J]. 机械工程学报, 2019, 55(22): 140-152.
[12]	韩玲, 刘鸿祥, 王金武, 刘畅. 基于MPC的无级变速器控制优化策略研究[J]. 机械工程学报, 2019, 55(10): 158-167.
[13]	程敏, 于今, 丁孺琦, 蔡乐平. 基于流量前馈与压力反馈复合控制的电液负载敏感系统[J]. 机械工程学报, 2018, 54(20): 262-270.
[14]	刘云峰, 周云山, 瞿道海, 王建德, 傅兵, 张飞铁. 基于电动油泵的混合动力CVT能耗对比分析[J]. 机械工程学报, 2018, 54(14): 125-131.
[15]	傅兵, 周云山, 胡哓岚, 李航洋, 刘云峰, 张飞铁. 金属带式无级变速器钢环摩擦损失[J]. 机械工程学报, 2018, 54(14): 169-178.