CN100363640C - Clutch combination controlling method based on fuzzy controlling technology - Google Patents
Clutch combination controlling method based on fuzzy controlling technology Download PDFInfo
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- CN100363640C CN100363640C CNB2005100607335A CN200510060733A CN100363640C CN 100363640 C CN100363640 C CN 100363640C CN B2005100607335 A CNB2005100607335 A CN B2005100607335A CN 200510060733 A CN200510060733 A CN 200510060733A CN 100363640 C CN100363640 C CN 100363640C
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Abstract
The present invention relates to a clutch combination and control method based on fuzzy control technology. The method is realized by the following steps: 1), the position of a half combination point is determined; 2), the transverse combination speed of a clutch is determined; 2.1), a first stage and a third stage are fast combination, and the transverse combination speed of the clutch can be directly determined according to the opening degree of a throttle; 2.2), a second stage uses fuzzy control technology to fix speed in section, a traveling sensor of the clutch transfers a displacement signal of the clutch to a control chip, and the displacement signal determines the impulse width for controlling the clutch and controls different switching time of an electromagnetic valve so as to satisfy different engaging speed of the clutch. The present invention has the advantage that the present state of an automobile and a driver's intention are collected, the position of the half combination point of the clutch is accurately found, the properly transverse combination speed of the clutch is adopted, and thus, the method reduces the wear in the combination of the clutch and makes the starting or shifting process become stable and rapid.
Description
Technical field
What the present invention relates to is clutch combination controlling method, the clutch combination controlling method based on fuzzy control technology in the especially a kind of electrical control automatic manual transmission system.
Background technique
Electric control mechanical type automatic speed variator claims AMT again, it is on the basis of original manual transmission structure, by installing automatic electronic operating mechanism additional, replace clutch separation that former cause driver manually finishes, engaged, plucked shelves and operations such as engage a gear and the adjusting of motor respective synchronization, finally realized the automation that gear shift overall process sequence is handled.It is compared with the automatic speed-changing system of other types, and great advantage is that to have kept traditional mechanical transmission structure constant substantially, so original speed changer production line need not be changed, the production inheritance is good, and the expense of input is also lower.And the gear-driven efficiency height, mechanism's compactness, reliable operation will be so AMT will become the emphasis of China's automatic gearbox development from now on.
Clutch is installed between motor and the speed changer, and be used for separating or engage front and back power between the two and get in touch, be one of parts of most critical in the transmission device.It can guarantee the unloaded startup of motor, prevents overload when making vehicle obtain gentle start and emergency braking.The engaging process more complicated of clutch, under the different operating mode of automobile, clutch's jointing process is also different.The control of clutch cohesive process is the core of AMT control, it also is the most complicated part, the present invention is according to the demand of the control of electric control mechanical type automatic speed variator system, proposed a kind of clutch combination controlling method, the development of AMT has been had very significant meaning based on fuzzy control technology.
The controlling method of clutch cohesive process requires clutch in conjunction with steadily impacting sense and fast with the prolongation life of clutch of reducing friction to reduce, and its key technology comprises the selection of determining of clutch half hitch chalaza when contacting (be the master and slave Moving plate of clutch clutch position) and clutch transverse velocity.
Current clutch combination controlling method mainly adopts robust algorithm and pid algorithm.
The shortcoming of robust algorithm is:
◆ the modeling difficulty, must determine parameter by senior expert;
◆ transplantability is poor, and each systematic parameter all needs to redeterminate;
◆ the algorithm complexity is not suitable for being used in automobile like this in the exigent system of real-time.
The shortcoming of pid algorithm is:
◆ the complex environment when being not suitable for automobile running, be difficult to take into account clutch in conjunction with steadily, requirement fast;
◆ little throttle, when load was big, pid algorithm can not carry out correct control to clutch.
Summary of the invention
The objective of the invention is to propose a kind of clutch combination controlling method based on fuzzy control technology for overcoming above-mentioned deficiency, when having realized starting and gear shift, clutch smooth and steady, combination fast.
The used technological scheme of technical solution problem of the present invention: this clutch combination controlling method based on fuzzy control technology, performing step is as follows:
1), determine half hitch chalaza position:
1.1), be input parameter with engine speed change amount and clutch lateral displacement change amount, rotation speed change amount Δ w is an input language variable 1; The displacement variable Δ X of clutch is an input language variable 2; The output language variable is the increment Delta L of the complete separation point of clutch to the historical record value L of distance between the nominal initial bonding point;
1.2), the span of Δ w is F
1: { NB, NM, NS, ZE}; The span of Δ X is F
2: NB, and NM, NS, ZE}, the span of Δ L is F
3: { NB, NM, NS, ZE, PS, PM, PB}.And adopt isosceles triangle as membership function.The codomain of Δ w be 3 ,-2 ,-1,0}; The codomain of Δ X be 3 ,-2 ,-1,0}, the codomain of Δ L be 3 ,-2 ,-1,0,1,2,3};
1.3), Δ L is carried out interpolation, thereby obtain the codomain of Δ L, further obtain the value of Δ L by the isosceles triangle membership function;
2), determine clutch horizontal integration speed:
2.1), the phase I all is quick the combination with the phase III, directly just can determine clutch horizontal integration speed according to accelerator open degree;
2.2), second stage adopts fuzzy control technology to carry out the segmentation constant speed, by clutch stroke sensor the clutch displacement signal is passed to control chip, determine the pulse width of solenoidoperated cluthes by this signal, and then the different switching times of control electromagnetic valve, satisfy the different engaging speed of clutch.
The effect that the present invention is useful: gather current vehicle condition and driver intention, pass through fuzzy control technology, accurately find clutch half hitch chalaza position, and the suitable clutch horizontal integration speed of employing, thereby reduce the wearing and tearing in the clutch combination, make starting or gearshift procedure steadily, fast.Solenoidoperated cluthes in conjunction with the time, determine earlier the half hitch chalaza, adopt suitable transverse velocity in conjunction with getting final product afterwards.
Description of drawings
Fig. 1 travel of clutch figure;
Fig. 2 clutch horizontal integration speed controlling flow process;
Fig. 3 clutch is explained in detail in conjunction with second stage;
The test of the QQ of Fig. 4 Cherry clutch half hitch chalaza;
The QQ of Fig. 5 Cherry clutch horizontal integration velocity test;
Fig. 6 driver operation and this algorithm controls comparison chart.
Embodiment
Below in conjunction with drawings and Examples the present invention is further described.
Clutch is divided into three phases (as Fig. 1) in cohesive process
● I eliminates the clutch play stage: this stage does not have transmission of torque, fast engaging clutch.
● the II sliding wear stage: because this stage begin to transmit the sliding wear torque, clutch engagement should slow down as required, but as long as shock extent control within the acceptable range, just should make clutch finish the sliding wear stage with speed as soon as possible, to reduce sliding wear time and work of slipping.And recover fuel feeding in this latter stage in stage.
● the synchronous zygophase of III: clutch is engaged with the fastest speed.
This algorithm mainly solves determining and horizontal integration speed controlling problem of clutch half hitch chalaza position (that is the separation in I stage and II stage).Set forth respectively below:
One, determines half hitch chalaza position
The present invention adopts fuzzy control theory, is input parameter with engine speed change amount and clutch lateral displacement change amount.Its basic principle: search when recording carrying out clutch binding site position, allow the engine air throttle aperture remain unchanged and make automobile be in halted state.When the master and slave Moving plate of clutch contacted, originally the motor of smooth operation can reduce rotating speed because of the influence that is subjected to suddenly applied load, but the degree of rotating speed decline combines velocity relationship with clutch very big.Therefore, can judge the initial binding site of clutch position, i.e. half hitch chalaza position in conjunction with speed according to situation and clutch that engine speed descends.Also can adopt other parameters is input parameter, only needs to reflect that present travelling state of automobile and driver intention get final product.
Rotation speed change amount Δ w is an input language variable 1; The displacement variable Δ X of clutch is an input language variable 2; The output language variable is the increment Delta L (be controlled quentity controlled variable) of the complete separation point of clutch to the historical record value L of distance between the nominal initial bonding point.
The span of Δ w is F
1: { NB, NM, NS, ZE}; The span of Δ X is F
2: NB, and NM, NS, ZE}, the span of Δ L is F
3: { NB, NM, NS, ZE, PS, PM, PB}.And adopt isosceles triangle as membership function.The codomain of Δ w be 3 ,-2 ,-1,0}; The codomain of Δ X be 3 ,-2 ,-1,0}, the codomain of Δ L be 3 ,-2 ,-1,0,1,2,3}.
Δ L is carried out interpolation, thereby obtain the codomain of Δ L, further obtain the value of Δ L by the isosceles triangle membership function.
Two, determine clutch horizontal integration speed
The Clutch Control flow process is shown in (Fig. 2):
Phase I all is quick the combination with the phase III, directly just can determine clutch horizontal integration speed according to accelerator open degree.
Second stage is comparatively complicated, and the present invention adopts fuzzy control technology to carry out the segmentation constant speed.By clutch stroke sensor the clutch displacement signal is passed to control chip, determine the pulse width (being the PWM ripple) of solenoidoperated cluthes by this signal.And then the different switching times of control electromagnetic valve, satisfy the different engaging speed of clutch.
The detailed process of second stage such as Fig. 3, L
2Be second stage, it is divided into plurality of sections, be divided into BC, CD, three sections of DE, every section displacement is uniform motion in a straight line, and every section traveling time is seen figure.
With accelerator open degree β is input language variable 1; With displacement of targets difference DELTA S be input language variable 2; The output language variable is clutch next stage horizontal integration speed relative standard clutch horizontal integration speed difference DELTA v.
The span of β is F
4: ZE, and PS, PM, PB}, the span of Δ S is F
5: NB, and NM, NS, ZE, PS, PM, PB} (is initial point with the impact point), the span of v is F
6: { NB, NM, NS, ZE, PS, PM, PB}.β is unconventional membership, needs actual test, the data that can record on the QQ of Cherry with reference to the present invention; It is membership function that Δ S adopts isosceles triangle.The codomain of β be 0,1,2,3}; The codomain of Δ S be 3 ,-2 ,-1,0,1,2,3}; The codomain of Δ v be 3 ,-2 ,-1,0,1,2,3}.
Δ v is carried out interpolation, thereby obtain the codomain of Δ v, obtain the value of Δ v, further obtain v, thereby obtain pairing Pulse wave (PWM) dutycycle by the isosceles triangle membership function.
Replace the TCU of the QQ of Cherry by oneself TCU (AMT Direct box), utilize Clutch Control algorithm of the present invention, obtained expected effect.
At first test half hitch chalaza position:
On the QQ of Cherry, record: the basic domain of engine speed rate of descent Δ w 220, and 0}, unit: rev/min; The basic domain of clutch horizontal integration speed Δ X 0, the mm of 0.5} unit; Clutch depart from the distance, delta L of half hitch chalaza mean value basic domain 0.8 ,+0.8}, unit: mm
Fig. 4 judges figure by the clutch half hitch chalaza of algorithm gained described in the invention
Next tests clutch horizontal integration speed:
On the QQ of Cherry, record: the basic domain of Δ S for 0.3 ,+0.3}, the mm of unit; The basic domain of Δ v 0.6, the mm/s of+0.6} unit; The basic domain of β sees the following form
| |
0～12 | 12～30 | 30～50 | 50～100 |
| The β fuzzy value | ZE | PS | PM | PS |
Fig. 5 is the clutch horizontal integration speed selection figure by algorithm gained described in the invention
At last, test is by the clutch bond quality of algorithm controls of the present invention
Fig. 6 is the comparison chart of travel of clutch when adopting FUZZY ALGORITHMS FOR CONTROL described in the invention and driver operation.As seen from Figure 6, this algorithm controls of second stage and driver control basic identical, and, slightly short by the clutch combination time of this algorithm controls, illustrate that under this algorithm controls clutch is in conjunction with steady, quick.
Claims (2)
1. clutch combination controlling method based on fuzzy control technology, it is characterized in that: performing step is as follows:
1), determine half hitch chalaza position:
1.1), be input parameter with engine speed change amount and clutch lateral displacement change amount, rotation speed change amount Δ w is an input language variable 1; The displacement variable Δ X of clutch is an input language variable 2; The output language variable is the increment Delta L of the complete separation point of clutch to the historical record value L of distance between the nominal initial bonding point;
1.2), the span of Δ w is F
1: { NB, NM, NS, ZE}; The span of Δ X is F
2: NB, and NM, NS, ZE}, the span of Δ L is F
3: { NB, NM, NS, ZE, PS, PM, PB}.And adopt isosceles triangle as membership function.The codomain of Δ w be 3 ,-2 ,-1,0}; The codomain of Δ X be 3 ,-2 ,-1,0}, the codomain of Δ L be 3 ,-2 ,-1,0,1,2,3};
1.3), Δ L is carried out interpolation, thereby obtain the codomain of Δ L, further obtain the value of Δ L by the isosceles triangle membership function;
2), determine clutch horizontal integration speed:
2.1), the phase I all is quick the combination with the phase III, directly just can determine clutch horizontal integration speed according to accelerator open degree;
2.2), second stage adopts fuzzy control technology to carry out the segmentation constant speed, by clutch stroke sensor the clutch displacement signal is passed to control chip, determine the pulse width of solenoidoperated cluthes by this signal, and then the different switching times of control electromagnetic valve, satisfy the different engaging speed of clutch; The detailed process of second stage: L
2Be second stage, it is divided into plurality of sections, be divided into BC, CD, three sections of DE, every section displacement is uniform motion in a straight line, is input language variable 1 with accelerator open degree β; With displacement of targets difference DELTA S be input language variable 2; The output language variable is clutch next stage horizontal integration speed relative standard clutch horizontal integration speed difference DELTA v; The span of β is F
4: ZE, and PS, PM, PB}, the span of Δ S is F
5: NB, and NM, NS, ZE, PS, PM, PB} (is initial point with the impact point), the span of v is F
6: { NB, NM, NS, ZE, PS, PM, PB}; β is unconventional membership, needs actual test, and it is membership function that Δ S adopts isosceles triangle; The codomain of β be 0,1,2,3}; The codomain of Δ S be 3 ,-2 ,-1,0,1,2,3}; The codomain of Δ v be 3 ,-2 ,-1,0,1,2,3}; Δ v is carried out interpolation, thereby obtain the codomain of Δ v, obtain the value of Δ v, further obtain v, thereby obtain pairing Pulse wave dutycycle by the isosceles triangle membership function.
2. the clutch combination controlling method based on fuzzy control technology according to claim 1 is characterized in that: described clutch is divided into three phases in cohesive process:
2.1), the phase I, promptly eliminate the clutch play stage: this stage does not have transmission of torque, fast engaging clutch;
2.2), second stage, be the sliding wear stage: this stage begins to transmit the sliding wear torque, clutch engagement should slow down as required, but as long as shock extent control within the acceptable range, just should make clutch finish the sliding wear stage with speed as soon as possible, reducing sliding wear time and work of slipping, and recover fuel feeding in this latter stage in stage;
2.3), phase III, i.e. synchronous zygophase: clutch is engaged with the fastest speed.
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| CNB2005100607335A CN100363640C (en) | 2005-09-12 | 2005-09-12 | Clutch combination controlling method based on fuzzy controlling technology |
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| CNB2005100607335A CN100363640C (en) | 2005-09-12 | 2005-09-12 | Clutch combination controlling method based on fuzzy controlling technology |
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| CN100363640C true CN100363640C (en) | 2008-01-23 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006056530A1 (en) * | 2006-11-30 | 2008-06-05 | Volkswagen Ag | Method for controlling a friction clutch of a vehicle |
| CN101414159B (en) * | 2008-10-08 | 2012-04-18 | 重庆邮电大学 | Fuzzy control method and system based on successive type fuzzy interpolation |
| DE102009055065A1 (en) * | 2009-12-21 | 2011-06-22 | ZF Friedrichshafen AG, 88046 | Method for adapting the fast filling time of a coupling |
| CN102678907B (en) * | 2012-03-28 | 2015-09-23 | 奇瑞汽车股份有限公司 | A kind of fuzzy control method for infinitely variable transmission Clutch Control |
| CN102705398B (en) * | 2012-05-18 | 2014-01-01 | 北京工业大学 | Method for controlling synchronous impact of clutch |
| US8523737B1 (en) * | 2012-07-11 | 2013-09-03 | Ford Global Technologies, Llc | All-wheel-drive disconnect clutch control |
| CN102996680B (en) * | 2012-11-29 | 2015-12-02 | 浙江吉利汽车研究院有限公司杭州分公司 | A kind of auxiliary clutch system |
| CN104847810A (en) * | 2014-12-19 | 2015-08-19 | 北汽福田汽车股份有限公司 | Vehicle clutch starting control device and control method and vehicle |
| CN108843783B (en) * | 2018-08-01 | 2020-05-08 | 重庆长安汽车股份有限公司 | Clutch control method for gear upshift of AMT (automated mechanical transmission) |
| CN111114533B (en) * | 2018-10-30 | 2021-04-06 | 广州汽车集团股份有限公司 | Clutch engagement, power mode switching method, device, equipment and storage medium |
| CN111059269B (en) * | 2019-11-20 | 2021-07-27 | 中国第一汽车股份有限公司 | Self-adaptive control method for starting of wet-type double-clutch automatic transmission and vehicle |
| CN112879466B (en) * | 2021-01-08 | 2022-11-08 | 大连职业技术学院 | Semi-linkage automatic control mechanism of manual transmission automobile clutch, stroke calculation method and execution steps |
| CN113586624B (en) * | 2021-07-30 | 2022-12-06 | 东风商用车有限公司 | AMT clutch energy protection method, device, equipment and storage medium |
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2005
- 2005-09-12 CN CNB2005100607335A patent/CN100363640C/en not_active Expired - Fee Related
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| AMT离合器的综合模糊控制. 申水文等.汽车工程，第19卷第6期. 1997 * |
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