机电复合传动主谐次扰动相位自适应补偿方法

doi:10.3901/JME.2024.13.354

机械工程学报 ›› 2024, Vol. 60 ›› Issue (13): 354-365.doi: 10.3901/JME.2024.13.354

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机电复合传动主谐次扰动相位自适应补偿方法

张伟^1,2, 刘辉², 刘金刚¹, 严鹏飞³, 傅兵¹

1. 湘潭大学机械工程与力学学院湘潭 411105;
2. 北京理工大学车辆传动国防重点实验室北京 100081;
3. 中北大学机械工程学院太原 030051

收稿日期:2023-11-01 修回日期:2024-03-02 出版日期:2024-07-05 发布日期:2024-08-24
作者简介:张伟,男,1992年出生,博士。主要研究方向为车辆传动动力学设计与控制。E-mail:weizhangysu@163.com;刘金刚(通信作者),男,1979年出生,博士,教授,博士研究生导师。主要研究方向为车辆传动及控制。E-mail:liukingang@xtu.edu.cn
基金资助:
国家自然科学基金(52130512)和湖南省制造业关键产品“揭榜挂帅”(2023GXGG018)资助项目。

Adaptive Phase Compensation Method for Main Harmonic Disturbance in Electromechanical Transmission

ZHANG Wei^1,2, LIU Hui², LIU Jingang¹, YAN Pengfei³, FU Bing¹

1. School of Mechanical Engineering and Mechanics, Xiangtan University, Xiangtan 411105;
2. State Key Laboratory of Vehicle Transmission, Beijing Institute of Technology, Beijing 100081;
3. School of Mechanical Engineering, North University of China, Taiyuan 030051

Received:2023-11-01 Revised:2024-03-02 Online:2024-07-05 Published:2024-08-24

摘要/Abstract

摘要： 机电复合传动系统因具有功率密度大、调速范围广的特点得以在重型特种车辆上应用。然而，作为主要动力源的发动机，其曲轴扭矩剧烈波动引发系统扭振，影响行驶平稳性和使用寿命，传统机械减振装置减振特性无法实时调整，减振效果受限。研究了一种基于电机转矩自适应补偿的车用机电复合传动系统扭振减振方法，该方法通过重构扰动信号解决了发动机主谐次扰动前馈补偿信号的时滞问题。首先，建立了考虑轴弹性的机电复合传动系统动力学模型和发动机瞬态扭矩模型，分析了机电复合传动系统的扭振特性；其次，利用复矢量分析方法确定了双电机前馈调控方案中发动机主谐次扭振响应最优补偿条件，并通过灵敏度分析揭示了扭振主动控制力矩补偿误差的机理，然后，针对前馈控制信号相位偏差，提出了一种基于PI调节器的自适应时滞相位修正方法，该方法通过重构发动机主谐次激振信号实现时滞相位补偿。最后，进行了数值仿真和HIL测试研究。结果表明，前馈控制系统中时滞相位误差是控制效能劣化的主要因素，采用自适应PI调节器可以有效消除时滞相位误差，进而降低驱动系统转矩波动幅值，确保动力系统的平稳运行。

关键词: 机电复合传动, 混合动力, 扭振补偿, 振动抑制, 自适应控制

Abstract: The electromechanical transmission has been applied to heavy vehicles due to its high-power density and wide speed range. However, as the main power source of the engine, the severe fluctuation of crankshaft torque causes system torsional vibration, which affects driving smoothness and durability. Traditional mechanical dampers cannot adjust characteristics in real-time, and vibration attenuation effect is limited. A torsional vibration reduction method for automotive electromechanical transmission based on motor torque adaptive compensation is studied. This method solves the time delay problem of the engine's main harmonic disturbance feedforward compensation signal by reconstructing the disturbance signal. Firstly, a dynamic model of electromechanical transmission considering shaft elasticity and an engine transient torque model are established, and the vibration characteristics were analyzed; Secondly, the complex vector analysis is applied to determine the optimal compensation conditions for engine in the dual motor feedforward control scheme. The mechanism of torque compensation error in active control is revealed through sensitivity analysis. Then, an adaptive phase correction method based on PI regulator was proposed for the phase deviation of the feedforward control signal, this method achieves phase compensation by reconstructing the excitation signal. Finally, numerical simulation and rapid control prototype experiments are conducted. The results indicate that the delay phase error in the feedforward control system is the main factor leading to the degradation of control efficiency. The use of adaptive PI regulator can effectively eliminate the delay phase error, thereby reducing the amplitude of torque fluctuation in the drive system and ensuring the smooth operation.

Key words: electromechanical transmission, hybrid vehicle, torsional vibration compensation, vibration suppression, adaptive control

中图分类号:

U461

张伟, 刘辉, 刘金刚, 严鹏飞, 傅兵. 机电复合传动主谐次扰动相位自适应补偿方法[J]. 机械工程学报, 2024, 60(13): 354-365.

ZHANG Wei, LIU Hui, LIU Jingang, YAN Pengfei, FU Bing. Adaptive Phase Compensation Method for Main Harmonic Disturbance in Electromechanical Transmission[J]. Journal of Mechanical Engineering, 2024, 60(13): 354-365.

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机电复合传动主谐次扰动相位自适应补偿方法

Adaptive Phase Compensation Method for Main Harmonic Disturbance in Electromechanical Transmission

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