基于数字孪生的大马力拖拉机湿式离合器压力控制方法研究

doi:10.3901/JME.2023.13.268

机械工程学报 ›› 2023, Vol. 59 ›› Issue (13): 268-279.doi: 10.3901/JME.2023.13.268

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基于数字孪生的大马力拖拉机湿式离合器压力控制方法研究

张延安, 杜岳峰, 毛恩荣, 宋正河, 陈度, 朱忠祥

中国农业大学工学院北京 100083

收稿日期:2022-07-28 修回日期:2022-11-13 出版日期:2023-07-05 发布日期:2023-08-15
通讯作者: 杜岳峰(通信作者),男,1984年出生,博士,副教授,博士研究生导师。主要研究方向为车辆数字化设计与自动控制技术。E-mail:dyf@cau.edu.cn
作者简介:张延安,男,1993年出生,博士研究生。主要研究方向为车辆数字化设计与自动控制技术。E-mail:yanan@cau.edu.cn;毛恩荣,男,1961年出生,博士,教授,博士研究生导师。主要研究方向为农业装备智能化设计及流体传动技术。E-mail:gxy15@cau.edu.cn;宋正河,男,1973年出生,博士,教授,博士研究生导师。主要研究方向为农机装备试验验证方法与技术,智能化设计。E-mail:songzhenghe@cau.edu.cn;陈度,男,1981年出生,博士,高级工程师。主要研究方向为智能农机装备和计算机测控技术。E-mail:tchendu@cau.edu.cn;朱忠祥,男,1976年出生,博士,教授,博士研究生导师。主要研究方向为车辆与电液控制及智能化技术。E-mail:zhuzhonxiang@cau.edu.cn
基金资助:
国家重点研发计划资助项目(2020YFB1713502)。

Pressure Control Method of Wet Clutch in High-powered Tractor Based on Digital Twin

ZHANG Yan'an, DU Yuefeng, MAO Enrong, SONG Zhenghe, CHEN Du, ZHU Zhongxiang

College of Engineering, China Agricultural University, Beijing 100083

Received:2022-07-28 Revised:2022-11-13 Online:2023-07-05 Published:2023-08-15

摘要/Abstract

摘要： 大马力动力换挡拖拉机作业环境多变、工况复杂，其工作过程换挡频繁，针对动力换挡变速箱(Power shift transmission, PST)湿式离合器压力控制不准确、响应迟滞等问题，引入数字孪生的理念，提出了一种数字孪生驱动的时变比例微分自适应控制(Digital twin driven time-varying proportional integral adaptive control, DT-TVPIA)方法。首先，建立湿式离合器液压系统物理模型，分析系统物理模型的干扰因素；然后，利用输入/输出(Input/Output, I/O)数据构建湿式离合器液压系统数字孪生体；其次，利用Savitzky-Golay滤波器实时处理传感器数据，设计基于改进投影算法的自更新控制器，考虑最小化加权一步向前预报误差的控制电压准则函数，引入微分控制因子，设计时变比例微分自适应控制器；最后，开展基于快速控制原型(Rapid control prototype, RCP)的离合器压力控制试验。结果表明，伪梯度估计值随系统状态变化而变化，在系统状态发生剧烈变化时，数字孪生体能够在0.445 s内迅速更新并准确描述离合器液压系统，验证了基于I/O数据的湿式离合器液压系统数字孪生体的有效性；对比试验结果表明，与PID相比，DT-TVPIA的离合器压力响应速度更快，鲁棒性更好，其方波压力响应时间、超调量、稳态误差分别在0.445 s、0 MPa、0.001 MPa以内，正弦压力响应延迟时间、跟随误差、压力波动分别在0.05 s、0.024 MPa、0.001 MPa以内，满足拖拉机湿式离合器压力控制要求，研究结果为动力换挡拖拉机换挡品质的提升提供了基础，同时，为数字孪生技术在复杂非线性系统优化控制方面的应用提供了参考。

关键词: 拖拉机, 湿式离合器, 压力控制, 数字孪生, 自适应控制

Abstract: The working environment of high-powered power shift tractor is changeable and the working condition is complex, and it shifts gears frequently in the working process. Aiming at the problems of inaccurate pressure control and hysteresis response of wet clutch in tractor power shift transmission (PST), a digital twin driven time-varying proportional integral adaptive control (DT-TVPIA) method is proposed by introducing the concept of digital twin. Firstly, the physical model of wet clutch hydraulic system is established and the interference factors of the physical model are analyzed. Secondly, a digital twin of the wet clutch hydraulic system is constructed using the Input/Output (I/O) data. Thirdly, the Savitzky-Golay filter is used to process the sensor data in real time, and a self-updating controller based on improved projection algorithm and a time-varying proportional integral adaptive controller are designed by considering the control voltage criterion function which minimizes the weighted one-step forward prediction error and introducing the proportional control factor. Finally, the clutch pressure control test based on the rapid control prototype (RCP) is carried out. The results show that pseudo gradient estimates vary with the system state, the digital twin can rapidly update and accurately describe the clutch hydraulic system within 0.445 s when the system state changes dramatically, which proves the validity of the digital twin based on I/O data. Compared with PID, DT-TVPIA has faster clutch pressure response speed and better robustness, and the response time, overshoot and steady-state error of DT-TVPIA target for square wave pressure are within 0.445 s, 0 MPa and 0.001 MPa, respectively, and the response delay time, following error and fluctuation target for sinusoidal pressure are within 0.05 s, 0.0238 MPa and 0.001 MPa, respectively, which meet the pressure control requirements of tractor wet clutch. The research result provide a basis for the improvement of tractor shift quality, and a reference for the application of digital twin in optimal control of complex nonlinear systems.

Key words: tractor, wet clutch, pressure control, digital twin, adaptive control

中图分类号:

TP273

张延安, 杜岳峰, 毛恩荣, 宋正河, 陈度, 朱忠祥. 基于数字孪生的大马力拖拉机湿式离合器压力控制方法研究[J]. 机械工程学报, 2023, 59(13): 268-279.

ZHANG Yan'an, DU Yuefeng, MAO Enrong, SONG Zhenghe, CHEN Du, ZHU Zhongxiang. Pressure Control Method of Wet Clutch in High-powered Tractor Based on Digital Twin[J]. Journal of Mechanical Engineering, 2023, 59(13): 268-279.

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基于数字孪生的大马力拖拉机湿式离合器压力控制方法研究

Pressure Control Method of Wet Clutch in High-powered Tractor Based on Digital Twin

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