阅读说明：本技术 离合器扭矩传递特性自适应优化控制方法 (Self-adaptive optimization control method for torque transmission characteristics of clutch ) 是由 刘拂晓 李育 马龙飞 高晶 田维伟 于 2019-03-11 设计创作，主要内容包括：一种离合器扭矩传递特性自适应优化控制方法,通过实时检测离合器工况并判断当离合器扭矩传递特性曲线满足自适应采点的激活条件且离合器满足预设工况条件时进行采点计算,得到基于离合器全位置段划分出的多个位置段的参考采样点,同时计算这些参考采样点的离合器实际传递的扭矩值；当测试点满足自适应激活条件时,进行测试点的位置计算得到可以使离合器扭矩特性函数算得最优扭矩值的参数值,并通过自适应算法,得到基于自适应策略的离合器扭矩传递函数并用于对离合器扭矩传递特性进行控制。本发明能够准确识别扭矩图曲线并适应到采样点当中,且奇偶数轴离合器的“实际”传递扭矩曲线较为收敛,证明了文章所述的方法的正确性与可行性。(A clutch torque transfer characteristic self-adaptive optimization control method comprises the steps of detecting clutch working conditions in real time, judging whether a clutch torque transfer characteristic curve meets an activation condition of a self-adaptive sampling point or not and whether the clutch meets a preset working condition or not, carrying out sampling point calculation to obtain reference sampling points of a plurality of position segments divided based on the whole position segment of the clutch, and calculating actual torque values of the clutch at the reference sampling points; when the test points meet the self-adaptive activation condition, the position of the test points is calculated to obtain a parameter value which can enable the clutch torque characteristic function to obtain an optimal torque value, and the clutch torque transfer function based on the self-adaptive strategy is obtained through the self-adaptive algorithm and is used for controlling the clutch torque transfer characteristic. The method can accurately identify the torque graph curve and adapt to the sampling points, and the actual transmission torque curve of the odd-even shaft clutch is more convergent, thereby proving the correctness and feasibility of the method described in the article.)

1. A clutch torque transfer characteristic self-adaptive optimization control method is characterized in that sampling point calculation is carried out by detecting the working condition of a clutch in real time and judging when a clutch torque transfer characteristic curve meets the activation condition of a self-adaptive sampling point and the clutch meets the preset working condition, reference sampling points of a plurality of position segments divided based on the full position segment of the clutch are obtained, and the actual torque value transmitted by the clutch of the reference sampling points is calculated at the same time; when the test points meet the self-adaptive activation condition, calculating the positions of the test points to obtain parameter values which can enable the clutch torque characteristic function to obtain an optimal torque value, and obtaining a clutch torque transfer function based on a self-adaptive strategy through a self-adaptive algorithm and controlling the clutch torque transfer characteristic;

the clutch operating conditions include: the engine rotating speed, the input shaft rotating speed, the clutch position and the clutch working temperature;

the clutch torque transmission characteristic curve is as follows: and obtaining a parameter value of the clutch torque transfer function which enables the target function to be the minimum value by adopting a Levenberg-Marquardt least square algorithm based on a target function formed by the clutch torque characteristic function and the least square error of the actual sampling torque value, and calculating to obtain a clutch torque transfer characteristic curve.

2. The method of claim 1, wherein the explicit equation for the torque transfer characteristic isWherein: t is the torque transmitted by the clutch, and the parameter values of the optimal torque value comprise: p is a radical of₁For the maximum torque increase rate, P, that can be achieved by the clutch torque transfer curve₂Being test points of clutches, P₃、P₄And P₅To influence the form factor of the clutch transmission torque curve, P₃+P₅Is the maximum value of the rate of change of the rate of increase of the torque transfer curve, P₄Is a correction factor;

the clutch torque characteristic function, i.e. the shorthand function of the explicit equation for the torque transfer characteristic, is: t ═ f (u, p)₁，p₂，p₃，p₄，p₅) (ii) a Clutch torque characteristic function and actual sampling torque value T_iThe least squares error of (d) is: s_i＝(f(u_i，p₁，p₂，p₃，p₄，p₅)-T_i)²(ii) a The objective function is as follows:

3. the method of claim 1, wherein said maximum torque rate of increase is a limit value in a dry clutch; in wet clutches, the slope of the curve is above the linear growth point.

4. The method of claim 1 wherein said correction factor is (0, 0.1) when the clutch is a dry clutch; and 0 when the clutch is a wet clutch.

5. The method of claim 1, wherein the activation condition of the adaptive sampling point comprises: 1) the engine torque is positive and stable; 2) the rotating speed of the input shaft is stable; 3) the position of the clutch is stable; 4) the input shaft and the engine have a stable rotating speed difference and are in a small amplitude range; 5) currently, a single clutch works; 6) the temperature of the clutch is within the normal operating range.

6. The method of claim 1, wherein the predetermined operating conditions include: 1) the torque transmission characteristics of the clutch change slightly in a short time; 2) the temperature of the clutch does not change greatly in a short time; 3) within a limited temperature range, the torque transfer characteristics of the clutch change slightly.

7. The method of claim 1, wherein the adaptive sampling point is: dividing n position segments by dividing the clutch full position segment or full pressure segment, each position segment establishing a reference sampling point (u)_i，T_i) Wherein: i is 1 to n, and i is 1 to n,

8. The method of claim 1, wherein the adaptive activation condition comprises: 1) the torque of the engine is stable; 2) the rotating speed of the input shaft is stable; 3) the current clutch is in a non-working state; 4) the input shaft and the engine have larger rotation speed difference; 5) the temperature of the clutch is within a normal range.

9. The method of claim 1, wherein the adaptive algorithm specifically comprises:

6.1) obtaining the formula: the method is characterized in that a Gauss-Newton algorithm is realized by adapting the Torque Map through a Levenberg-Marquardt algorithm:

the abbreviation is: h Δ P ═ Δ T ═ J, where: h is a partial derivative summation matrix of f for each parameter, J is a partial derivative matrix of f for each parameter, and delta P is the deviation of the solved vector P to be estimated; Δ T is the sum of the torque errors; to make the equation positive, the damping amount λ is introduced, and the equation is: (H + λ I) × Δ P ═ Δ T × J, where the determination of the λ value is changed according to the change trend of the objective function F, if the value of the objective function F at the clutch all-position segment is decreased, the λ is decreased and iteration is continued, if the value of F is decreased and increased, the λ is increased and iteration is continued, when the objective function F is smaller than the acceptable allowable error of the system, or the step size Δ P of the solution is smaller than 0.0001s, the iterative calculation is stopped, and the solved vector P to be estimated is the optimal solution;

6.2) judging whether the test points meet the following self-adaptive conditions:

a. the torque of the engine is stable;

b. the rotating speed of the input shaft is stable;

c. the current clutch is in a non-working state;

d. the rotating speed difference between the input shaft and the engine is within the range of 0 rpm-50 rpm;

e. the temperature of the clutch is in the range of-30 ℃ to 200 ℃;

6.3) Calculating the position of the test point: by the formula:

6.4) judging whether the test point calculation is successful, and inputting the result into the step 6.1) when the test point calculation is successful; when unsuccessful, a failure is recorded.

10. The method of claim 1, wherein the location of the test point is calculated by the formula:wherein: t is_CluIn order for the clutch to actually transmit torque,the rate of change of input shaft speed at the end of the clutch test point adaptation,for adapting the rate of change of input shaft speed at the start, J_inIs the input shaft rotational inertia.

Technical Field

The invention relates to a technology in the field of gear shifting control of an automatic transmission of an automobile, in particular to a self-adaptive optimization control method for a torque transmission characteristic of a clutch.

Background

The double-clutch automatic transmission is characterized in that a clutch is added on the basis of an automatic manual transmission, and the two clutches respectively correspond to odd and even gears. During gear shifting, a target gear can be shifted in advance, and then unpowered and impact-free gear shifting is realized through interaction of the two clutches and gear control of engine torque and rotating speed. The double-clutch automatic transmission has the advantages of high transmission efficiency, excellent gear shifting quality and moderate cost. Further, the control technology of the dual clutch automatic transmission can be developed successively from the control technology of the automatic manual transmission. In the clutch torque transfer process, the torques of the two clutches cannot be directly measured, but need to be indirectly measured through a pressure sensor or a position sensor, so that the pressure or position relation of the clutches is just used as the reference of the torques in the clutch torque transfer process, the gear shift quality can be reduced if the clutch torque transfer characteristics are inaccurate, and otherwise, the gear shift quality can be improved.

Disclosure of Invention

Aiming at the defects and shortcomings of the prior art, the invention provides a clutch torque transfer characteristic self-adaptive optimization control method, which can accurately identify a torque graph curve and adapt to sampling points, and the 'actual' transfer torque curve of odd-even shaft clutches is more convergent, thereby proving the correctness and feasibility of the method described in the article.

The invention is realized by the following technical scheme:

the method comprises the steps of detecting the working condition of the clutch in real time, judging whether a clutch torque transmission characteristic curve meets the activation condition of a self-adaptive sampling point or not and calculating the sampling point when the clutch meets the preset working condition, obtaining reference sampling points of a plurality of position segments divided based on the full position segment of the clutch, and calculating the actual torque value transmitted by the clutch of the reference sampling points; when the test points meet the self-adaptive activation condition, the position of the test points is calculated to obtain a parameter value which can enable the clutch torque characteristic function to obtain an optimal torque value, and the clutch torque transfer function based on the self-adaptive strategy is obtained through the self-adaptive algorithm and is used for controlling the clutch torque transfer characteristic.

The clutch operating conditions include: engine speed, input shaft speed, clutch position, and clutch operating temperature.

The clutch torque transmission characteristic curve is as follows: based on a target function formed by the least square error of the clutch torque characteristic function and the actual sampling torque value, a Levenberg-Marquardt least square algorithm is adopted to obtain a parameter value of the clutch torque transfer function which enables the target function to be the minimum value, and a clutch torque transfer characteristic curve is obtained through calculation, wherein an explicit equation of the torque transfer characteristic isWherein: t is the torque transmitted by the clutch, and the parameter values of the optimal torque value comprise: p is a radical of₁For the maximum torque increase rate, P, that can be achieved by the clutch torque transfer curve₂Being test points of clutches, P₃、P₄And P₅To influence the form factor of the clutch transmission torque curve, P₃+P₅Is the maximum value of the rate of change of the rate of increase of the torque transfer curve, P₄Is a correction factor.

The clutch torque characteristic function, i.e. the shorthand function of the explicit equation for the torque transfer characteristic, is: t ═ f (u, p)₁，p₂，p₃，p₄，p₅) (ii) a Clutch torque characteristic function and actual sampling torque value T_iThe least squares error of (d) is: s_i＝(f(u_i，p₁，p₂，p₃，p₄，p₅)-T_i)²(ii) a The objective function is as follows:

the maximum torque increase rate is a limit value in the dry clutch; in wet clutches, the slope of the curve is above the linear growth point.

The correction coefficient is (0, 0.1) when the clutch is a dry clutch; and 0 when the clutch is a wet clutch.

The activation condition of the self-adaptive sampling point comprises the following steps: 1) the engine torque is positive and stable; 2) the rotating speed of the input shaft is stable; 3) the position of the clutch is stable; 4) the input shaft and the engine have a stable rotating speed difference and are in a small amplitude range; 5) currently, a single clutch works; 6) the temperature of the clutch is within the normal operating range.

The preset working condition comprises the following steps: 1) the torque transmission characteristics of the clutch change slightly in a short time; 2) the temperature of the clutch does not change greatly in a short time; 3) within a limited temperature range, the torque transfer characteristics of the clutch change slightly.

The self-adaptive sampling point is as follows: dividing n position segments by dividing the clutch full position segment or full pressure segment, each position segment establishing a reference sampling point (u)_i，T_i) Wherein: i is 1 to n.

The sampling point calculation refers to the following steps:and

wherein: k_SampleAs a filter constant, K_FilterIs a filter coefficient, u_iFor position reference sampling points, u_[i-1]Referencing sample points, T, for positions updated in a previous cycle_iFor torque reference sampling point, T_[i-1]Reference sampling point of torque updated for previous cycle, u_NewFor the position sampled in this cycle, T_NewThe torque obtained is sampled for this cycle.

The adaptive activation condition comprises: 1) the torque of the engine is stable; 2) the rotating speed of the input shaft is stable; 3) the current clutch is in a non-working state; 4) the input shaft and the engine have larger rotation speed difference; 5) the temperature of the clutch is within a normal range.

The position calculation of the test point is realized by the following formula:wherein: t is_CluIn order for the clutch to actually transmit torque,

the rate of change of input shaft speed at the end of the clutch test point adaptation,for adapting the rate of change of input shaft speed at the start, J_inIs the input shaft rotational inertia.

Technical effects

Compared with the prior art, the method can identify an accurate torque graph curve and enhance the robustness of torque graph self-adaptation.

Drawings

FIG. 1 is a schematic flow diagram of the present invention;

FIG. 2 is a schematic diagram illustrating the effects of the embodiment.

Detailed Description

As shown in fig. 1, the specific implementation of this embodiment is divided into the following steps:

1) obtaining an explicit equation for a clutch Torque Map (Torque Map): according to the theoretical equation for the torque transmitted by the clutch:wherein: t is the torque transmitted by the clutch; r is₂Radius of the pressing surface of the clutch disc; r is₁The aperture of the clutch disc; f is the pressure acting on the clutch friction plate, and the pressure and the force acting on the diaphragm spring present a nonlinear relation; mu is the friction coefficient of the friction plate of the clutch. Wet-type double-clutch multi-miningUsing a pressure sensor as the detection of F mu; the dry dual clutch mostly adopts a displacement sensor as the detection of F mu. Therefore, taking the variable u as a variable for which the clutch pressure and displacement are unified, a implicit function is obtained: t ═ F (u) ═ F (F × μ), which is expressed in the dominant form:

wherein: t is the clutch transmission torque, p₁For the maximum torque increase rate, p, that can be achieved by the clutch torque transfer curve₂Is a test point of the clutch and T (P) in the above equation₂)＝0，P₃、P₄And P₅To influence the form factor of the clutch transmission torque curve, P₃+P₅Is the maximum value of the rate of change of the rate of increase of the torque transfer curve, P₄Is a correction factor.

The maximum torque increase rate is a limit value in the dry clutch; in wet clutches, the slope of the curve is above the linear growth point.

The correction coefficient is as follows: when the clutch is a dry clutch, the value range is (0, 0.1); in the case of a wet clutch, the value is 0.

2) Judging whether the clutch torque transmission characteristic curve meets the following activation conditions of the self-adaptive sampling points:

a. the engine torque is positive and stable;

b. the rotating speed of the input shaft is stable;

c. the position of the clutch is stable;

d. the input shaft and the engine have a stable rotation speed difference and are within the range of 0 rpm-50 rpm;

e. currently, a single clutch works;

f. the temperature of the clutch is between-30 ℃ and 200 ℃;

3) selecting sampling points: dividing n position segments by dividing the clutch full position segment or full pressure segment, each position segment establishing a reference sampling point (u)_i，T_i) Wherein: i is 1 to n;

4) judging whether the calculation of the sampling points conforms to the hypothesis: because during actual driving, a lot of sampling points can be gathered to the same position section, also can take different clutch actual transmission torque values at the same position, to this kind of condition, the calculation of sampling point needs to accord with:

a. the torque transmission characteristics of the clutch change slightly within 30 s;

b. the temperature of the clutch does not change greatly within 30 s;

c. within the range of 30 ℃, the torque transmission characteristic variation of the clutch is within the range of +/-10 Nm;

5) calculating a sampling point: by the formulaAnd wherein: k_SampleAs a filter constant, K_FilterIs a filter coefficient, u_iFor position reference sampling points, u_[i-1]Referencing sample points, T, for positions updated in a previous cycle_iFor torque reference sampling point, T_[i-1]Reference sampling point of torque updated for previous cycle, u_NewFor the position sampled in this cycle, T_NewTorque sampled in the period;

6) the adaptive algorithm specifically comprises the following steps:

6.1) obtaining the formula:

the method is characterized in that a Gauss-Newton algorithm is realized by adapting the Torque Map through a Levenberg-Marquardt algorithm:

the abbreviation is: h Δ P ═ Δ T ═ J, where: h is the partial derivative of f for each parameterSumming a matrix, wherein J is a partial derivative matrix of f for each parameter, and delta P is the deviation of the solved vector P to be estimated; Δ T is the sum of the torque errors; to make the equation positive, the damping amount λ is introduced, and the equation is: and (H + λ I) × Δ P ═ Δ T × J, wherein the λ value is determined according to the trend of the objective function F, and if the value of the objective function F in the clutch all-position segment is smaller, the λ is decreased and the iteration is continued, and if the value of the objective function F is decreased and the F is increased, the λ is increased and the iteration is continued. Stopping iterative computation when the objective function F is smaller than the allowable error acceptable by the system or the solved step length delta P is smaller than 0.0001s, and obtaining the solved vector P to be estimated as the optimal solution;

6.2) judging whether the test points meet the following self-adaptive conditions:

a. the torque of the engine is stable;

b. the rotating speed of the input shaft is stable;

c. the current clutch is in a non-working state;

d. the rotating speed difference between the input shaft and the engine is within the range of 0 rpm-50 rpm;

e. the temperature of the clutch is in the range of-30 ℃ to 200 ℃;

6.3) calculating the position of the test point: by the formula:

wherein: t is_CluIn order for the clutch to actually transmit torque,the rate of change of input shaft speed at the end of the clutch test point adaptation,for adapting the rate of change of input shaft speed at the start, J_inRotational inertia of the input shaft;

6.4) judging whether the test point calculation is successful, and inputting the result into the step 6.1) when the test point calculation is successful; if not, recording the fault;

7) judging whether the calculation in the step 6.1) is successful, and outputting a result when the calculation is successful; and returning to the step 2) when the operation is unsuccessful.

And (3) building a model in Simulink by the method, generating a C code by using Targetlink, and integrating executable code files HEX and A2L.

Compared with the prior art, the invention has the advantages that: the patent [ CN 108869574A ] obtains a compensation coefficient of next clutch combination control by detecting the difference between the engine speed and the gearbox speed in each clutch combination stage, thereby automatically adapting to the change of the clutch transmission torque characteristic, the method has certain hysteresis, and does not have the characteristic of timely adjusting the torque transmission based on the change of the current clutch characteristic parameter; according to the patent CN 109163087A, the combined clutch pressure correction quantity is dynamically adjusted according to the input shaft rotating speed change rate, the gear shifting time, the current gear and the target gear in the oil filling stage and the torque stage in the gear shifting process, so that the gear shifting quality is improved.

Aiming at the problem that the gear shifting quality is reduced due to inaccurate clutch torque transmission in the prior art caused by the nonlinear relation between the pressure on a clutch friction plate and the force of a diaphragm spring and the trend that the friction coefficient and the rotating speed difference and the temperature and other factors randomly change in a certain friction coefficient range, the invention provides a clutch torque transmission function which is derived by a Levenberg-Marquardt least square algorithm and is based on an adaptive strategy and used for controlling the clutch torque transmission characteristic. The advantages of the process invented herein over the prior art are: (1) as long as the clutch pick-up point condition is met, the method described herein can be adaptive at the clutch full torque section; (2) the robustness is good, and the anti-interference capability is strong; (3) the method has the advantages of multiple adaptive scenes, strong expansibility and expandable application in industrial related fields.

As shown in fig. 2, a is a Torque Map adaptation result curve of an odd-numbered clutch based on real vehicle data measured by a mounted dry-type dual-clutch automatic transmission, and the "actual" transmission Torque of the odd-numbered clutch is a Torque value calculated according to a Torque Map line and the actual position of the clutch, and is the lag of the clutch demand Torque, which is the result of the system execution end; and b is a Torque Map self-adaptive result curve of the even-number shaft clutch, and the result shows that a Torque curve obtained by a clutch Torque transfer function based on a self-adaptive strategy can be well self-adapted and stabilized to a sampling point, and the 'actual' transfer Torque curve of the odd-even shaft clutch is relatively convergent, so that the accuracy of clutch Torque transfer is improved, and the correctness and the feasibility of the method disclosed by the article are proved.

The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.