CN103256381A - Transmission system speed ratio fuzzy proportional integration differentiation (PID) controller of ultra-mild hybrid electric vehicle - Google Patents
Transmission system speed ratio fuzzy proportional integration differentiation (PID) controller of ultra-mild hybrid electric vehicle Download PDFInfo
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- CN103256381A CN103256381A CN 201210039802 CN201210039802A CN103256381A CN 103256381 A CN103256381 A CN 103256381A CN 201210039802 CN201210039802 CN 201210039802 CN 201210039802 A CN201210039802 A CN 201210039802A CN 103256381 A CN103256381 A CN 103256381A
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Abstract
The invention discloses a transmission system speed ratio fuzzy proportional integration differentiation (PID) controller of an ultra-mild hybrid electric vehicle. The transmission system speed ratio fuzzy PID controller aims at controlling the speed ratio of a transmission system so as to enable a motor to operate in an efficient area and enable an engine to operate on an optimum fuel economy or optimum dynamic property curve during working. The target speed ratio i0 of a speed changer can be judged through the controller according to difference value signals of the rotating speed of a target engine (motor) and the rotating speed of an actual engine (motor). The deviation e of the target speed ratio i0 and actual speed ratio i can be calculated, the speed ratio deviation e can be input into a fuzzy controller, and the deviation e and change rate of the deviation e are input into a PID regulator. The fuzzy rule of the fuzzy controller is that: fuzzy parameters of the speed ratio deviation e and obtained from the fuzzy controller serve as the input, fuzzy parameters corresponding to proportional, integration and differential coefficients of the PID regulator serve as the output, and the proportional, integration and differential coefficients of the PID regulator can change along with the deviation of the target speed ratio and the actual speed ratio.
Description
Technical field
The present invention relates to a kind of Transmission Ratio Control system, particularly a kind of super light mixed power automobile transmission system speed ratio fuzzy controller.
Background technique
The vehicle automatic transmission drive technology can alleviate driver's labor intensity, improve travel safety, improve smooth-going, the travelling comfort of driving, make automobile often be in good performance state in the process of moving, improving motor vehicle emission, is one of development trend of Hyundai Motor.Speed changer is as a vitals of vehicle drive system, directly influence power character, the economic index of vehicle, the automatic transmission that can be used for mixed power system at present generally has automatic mechanical transmission, traditional hydraulic type automatic transmission and continuously variable belt transmission and electronic type stepless speed variator etc.
Variable Speed Technology then is a kind of desirable implementation in the automatic Transmissions Technique.Metal band type stepless speed variator (Metal V-belt ContinuouslyVariable Transmission, be called for short CVT) be to rely on the friction between metal tape and the belt wheel to come transmitting torque, constantly change the radius of clean-up of metal tape on the driving and driven belt wheel by hydraulic actuator, realize the continuous variation of speed ratio, can make engine speed be independent of the variation of load, the speed of a motor vehicle, control the operation point of motor effectively, bring into play Economy and the power character of motor to greatest extent.The Transmission Ratio Control system of CVT realizes a key technology of its desirable transmission, and the formulation of its control strategy has a significant impact for shift quality and transmission efficiency.PID controller (proportional-integral derivative controller) is made up of ratio unit P, integral unit I and differentiation element D.Passing ratio COEFFICIENT K p, the setting of integral coefficient Ki and three parameters of differential coefficient Kd.The PID controller mainly is applicable to substantially linear and dynamic characteristic time invariant system.In the CVT Transmission Ratio Control, conventional PID control is because principle is simple, realization, stable state floating are used widely easily.But conventional PID control, because the difficult parameters of its controller is with automatic adjustment, at CVT system control poor effect non-linear, parameter time varying.
Summary of the invention
At above-mentioned prior art, the invention provides a kind of super light mixed power automobile transmission system speed ratio fuzzy controller, the method of employing fuzzy control theory realizes the automatic adjustment of controller parameter, because fuzzy control does not need precise math model, its dynamic performance is better, to non-linear, there is certain adaptive capacity in the parameter time varying system, thereby can make controling appliance that adaptivity is preferably arranged, so-called fuzzy controller is exactly that fuzzy theory is combined with traditional PID controller, namely utilize the characteristic of fuzzy control theory, in conjunction with traditional PID control theory, the fuzzy controller of its formation of constructing can be realized the automatic adjustment of controller parameter.
In order to solve the problems of the technologies described above, the technological scheme that super light mixed power automobile transmission system speed ratio fuzzy controller of the present invention is achieved is: this fuzzy controller comprises return flow type CVT (continuously variable transmission), fuzzy controller and PID regulator; The fuzzy parameter of described fuzzy controller input is: the goals ratio i of described return flow type CVT (continuously variable transmission)
0And the obfuscation gained of speed ratio deviation e between the actual speed ratio i; The fuzzy parameter of described fuzzy controller output is by the fuzzy parameter reasoning gained of described input: according to the fuzzy parameter of the input scaling factor Kp to described PID regulator, integral coefficient Ki and differential coefficient Kd carry out behind the real-time optimization corresponding respectively fuzzy parameter; Final realization reduces goals ratio i
0Speed ratio deviation e with actual speed ratio i.
Further, in the super light mixed power automobile transmission system speed ratio fuzzy controller of the present invention, according to the scaling factor Kp of the fuzzy parameter of importing to described PID regulator, integral coefficient Ki and differential coefficient Kd carry out real-time optimization: when the discontented foot-eye speed ratio of actual speed ratio requires, the scaling factor Kp of described PID regulator, integral coefficient Ki and the corresponding fuzzy parameter of differential coefficient Kd according to fuzzy rule along with the corresponding fuzzy parameter of speed ratio deviation e carries out respective change, by the scaling factor Kp of the PID regulator of gained behind the fuzzy parameter ambiguity solution, integral coefficient Ki and differential coefficient Kd will be along with the goals ratio i of return flow type CVT (continuously variable transmission)
0Change with the deviation of actual speed ratio i, make the actual speed ratio i of return flow type CVT (continuously variable transmission) can satisfy its goals ratio i preferably
0The requirement that changes.
In addition, in the super light mixed power automobile transmission system speed ratio fuzzy controller of the present invention, get target engine (or motor) rotating speed and real engine (or motor) speed discrepancy value signal, control the goals ratio i of described return flow type CVT (continuously variable transmission) by fuzzy controller
0
Also have, in the super light mixed power automobile transmission system speed ratio fuzzy controller of the present invention, actual speed ratio according to the output of return flow type CVT (continuously variable transmission) carries out feedback regulation to fuzzy controller, thereby operate in efficient district when guaranteeing motor work as far as possible, operate in during engine operation on optimal fuel economy or the best power source linearity curve.
Compared with prior art, the beneficial effect of super light mixed power automobile transmission system speed ratio fuzzy controller of the present invention is: can realize the automatic adjustment of parameter, by the metal band type stepless speed variator in the return flow type CVT (continuously variable transmission) is regulated, make the actual speed ratio of return flow type CVT (continuously variable transmission) can satisfy the requirement that goals ratio changes preferably, make motor can operate in its efficient district, operate in when making engine operation on optimal fuel economy or the best power source linearity curve.
Description of drawings
Layout structure schematic representation during Fig. 1 super light mixed power automobile engine-driving;
Fig. 2 is super light mixed power automobile transmission system speed ratio fuzzy controller structured flowchart of the present invention;
Fig. 3 is the principle schematic of fuzzy controller shown in Fig. 2;
Fig. 4 is the controller principle of PID shown in Fig. 2 schematic representation.
Among the figure:
1-power source 2-metal band type stepless speed variator 3,6,9-clutch
The 4-constant speed is than gear 5-break 7-overrunning clutch
8-planet row's 10-main reducing gear and differential mechanism 11-wheel
12-return flow type CVT (continuously variable transmission)
Embodiment
Content of the present invention is easier clearly to be understood in order to make, and below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail.
In the embodiment shown in fig. 1, super light mixed power automobile carries out Transmission Ratio Control when design, only considers the situation when power source 1 drives vehicle separately for motor or motor.Return flow type CVT (continuously variable transmission) 12 is made of than gear 4, break 5, clutch 6, overrunning clutch 7, planet row 8 and clutch 9 power source 1, metal band type stepless speed variator 2, clutch 3, constant speed.Can guarantee that with the power flow direction in the return flow type CVT (continuously variable transmission) 12 motor is all the time along the optimal fuel economy curve motion under the different accelerator open degrees by the speed ratio of regulating metal band type stepless speed variator 2.
As shown in Figure 2, super light mixed power automobile transmission system speed ratio fuzzy controller of the present invention comprises return flow type CVT (continuously variable transmission), fuzzy controller and PID regulator; The fuzzy parameter of described fuzzy controller input is: the goals ratio i of described return flow type CVT (continuously variable transmission)
0And the speed ratio deviation e obfuscation gained between the actual speed ratio i; The fuzzy parameter of described fuzzy controller output is by the fuzzy parameter reasoning gained of described input: according to the fuzzy parameter of the input scaling factor Kp to described PID regulator, integral coefficient Ki and differential coefficient Kd carry out distinguishing corresponding fuzzy parameter behind the real-time optimization, that is: according to the scaling factor Kp of the fuzzy parameter of importing to described PID regulator, integral coefficient Ki and differential coefficient Kd carry out real-time optimization: when the discontented foot-eye speed ratio of actual speed ratio requires, the scaling factor Kp of described PID regulator, integral coefficient Ki and the corresponding fuzzy parameter of differential coefficient Kd according to fuzzy rule along with the corresponding fuzzy parameter of speed ratio deviation e carries out respective change, by the scaling factor Kp of the PID regulator of gained behind the fuzzy parameter ambiguity solution, integral coefficient Ki and differential coefficient Kd will be along with the goals ratio i of return flow type CVT (continuously variable transmission)
0Change with the deviation of actual speed ratio i, make the actual speed ratio i of return flow type CVT (continuously variable transmission) can satisfy its goals ratio i preferably
0The requirement that changes, final realization reduces goals ratio i
0Speed ratio deviation e with actual speed ratio i.Wherein, get target engine (or motor) rotating speed and real engine (or motor) speed discrepancy value signal, control the goals ratio i of described return flow type CVT (continuously variable transmission) by fuzzy controller
0Utilize fuzzy controller of the present invention according to the actual speed ratio of return flow type CVT (continuously variable transmission) output fuzzy controller to be carried out feedback regulation, thereby operate in efficient district when guaranteeing motor work as far as possible, operate in during engine operation on optimal fuel economy or the best power source linearity curve.
Automobile in the process of moving, transmission system plays a part transmitting torque and rotating speed, during this, the transmission speed ratio of metal band type stepless speed variator 2 changes in its speed range all the time, but the gear of automobilism has reverse gear, neutral gear, bottom gear, transition shelves and top gear, and the operating mode of work has starting, acceleration, stablely travels, the braking deceleration operating mode, and the transfer route of power and direction also change, and the present invention mainly carries out Transmission Ratio Control according to the variation of each gear.
During reverse gear, according to the car load control mode, power source 1 can be motor, also can be motor.Under normal astern condition, driven separately by motor, realize reversing, the Transmission Ratio Control of metal band type stepless speed variator 2 should satisfy as far as possible operates on the high efficiency profile motor; Under high-power astern condition, driven separately by motor, and the speed ratio of control metal band type stepless speed variator 2, motor is operated on optimal fuel economy curve or the best power source linearity curve as far as possible, with the control target of the car load rideability of realizing ideal.
When bottom gear and transition shelves, no matter be motor or motoring, return flow type CVT (continuously variable transmission) 12 phenomenon that the meeting emergent power refluxes through metal band type stepless speed variator 2 in the process of work, at this moment, relative return flow type CVT (continuously variable transmission) 12 pure no level works, metal band type stepless speed variator 2 reverse carry-over moments.Automobile is when starting, it is maximum that the speed ratio of return flow type CVT (continuously variable transmission) 12 should keep, it is minimum that the speed ratio of metal band type stepless speed variator 2 should keep, operate in optimum working efficiency curve on when guaranteeing motor work as far as possible, operate in during engine operation on optimal fuel economy or the best power source linearity curve.
During top gear, return flow type CVT (continuously variable transmission) 12 is operated in pure stepless shift mode, metal band type stepless speed variator 2 forward transmitted powers, at this moment, the speed ratio of return flow type CVT (continuously variable transmission) 12 equals the speed ratio of metal band type stepless speed variator 2, operates on optimal fuel economy or the best power source linearity curve when making engine operation by the speed ratio of regulating metal band type stepless speed variator 2.
As everyone knows, the PID regulator is actual to be a self-adjustable amplifier of power gain, and in the time of dynamically, power gain is lower, can prevent that overshoot and vibration appear in locking system; When static, power gain is higher, and Ke Yi Pu is grasped little error signal, improves control accuracy.The PID controller is that ratio, integration and the differential action are combined, and to utilize its advantage separately, by the output quantity of linear combination as controller, acts on controlled device.Each link effect is in the PID controller: (1) proportional component reflects the departure of system in real time according to a certain percentage, in case namely deviation occurs, controller produces control action immediately, to reduce deviation.Scaling factor KP is more big, and the adjustment time of system is just more short, and steady-state error is also more little, but KP is excessive, can cause overshoot excessive, causes system's instability.(2) integral element is eliminated the steady-state error of system, improves the no margin of system.Integral coefficient KI is more big, and integral action is more strong, and steady-state error is more little, and the adjustment time is more short, but KI is big, can cause bad stability.(3) energy-conservation variation tendency and the variance ratio that reflects departure in time of differential ring effectively improves the dynamic performance of system.Usually, differential coefficient KD is big, and system overshoot reduces, but KD is big, also can cause the stability of a system to descend.
Fuzzy controller in the embodiment shown in Figure 2 is the combination of fuzzy theory and traditional PID controller.Utilize the characteristic of fuzzy control theory, in conjunction with traditional PID control theory, the fuzzy controller of structure can be realized the automatic adjustment of controller parameter.Get target engine (motor) rotating speed and real engine (motor) speed discrepancy value signal, control the goals ratio i of return flow type CVT (continuously variable transmission) 12 by fuzzy controller
0Goals ratio i with return flow type CVT (continuously variable transmission) 12
0With the deviation e of the actual speed ratio i input as fuzzy controller, the variance ratio that obtains with speed ratio deviation e and through derivative unit is as the input of PID regulator.Fuzzy controller carries out fuzzy reasoning according to fuzzy rule, the scaling factor Kp of output PID controller, integral coefficient Ki and differential coefficient Kd, the scaling factor Kp of the PID controller that speed ratio is regulated, integral coefficient Ki and differential coefficient Kd obtain from fuzzy controller, and carry out real-time optimization by fuzzy controller, vehicle transmission is imported metal band type stepless speed variator 2 with control command after regulating through fuzzy controller, realize the speed ratio adjusting of return flow type CVT (continuously variable transmission) 12 by regulating metal band type stepless speed variator 2, have higher fuel economy or power character when making engine operation, or make motor be operated in its efficient district.
Fuzzy logic control (Fuzzy Logic Control) is called for short fuzzy control (Fuzzy Control), is a kind of intelligence control method based on fuzzy set theory, fuzzy language variable and fuzzy logic inference.The main feature of fuzzy control is: (1) fuzzy control is a kind of rule-based control; (2) adaptability is strong; (3) robustness of system is stronger, changes insensitive to parameter; (4) rule of system and parameter tuning are convenient; (5) simple in structure.
As shown in Figure 3, described fuzzy controller is with goals ratio i
0With the deviation e of the actual speed ratio i input a as fuzzy controller, through input fuzzy controller F behind the amplifier c, carry out fuzzy reasoning according to fuzzy rule, through scaling factor Kp, integral coefficient Ki and the differential coefficient Kd of output PID controller behind the amplifier f.
As shown in Figure 4, s represents integration, and x represents product, is applied to the scaling factor Kp of PID controller shown in Figure 3, and integral coefficient Ki and differential coefficient Kd are to the goals ratio i of input a representative
0Regulate with the variance ratio of the deviation e of the deviation e of actual speed ratio i and input b representative, with the goals ratio i after the adjusting that obtains
1Be input to return flow type CVT (continuously variable transmission) 12.
Although top invention has been described in conjunction with figure; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; under the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (4)
1. a super light mixed power automobile transmission system speed ratio fuzzy controller comprises return flow type CVT (continuously variable transmission), fuzzy controller and PID regulator, it is characterized in that:
The fuzzy parameter of described fuzzy controller input is: the goals ratio i of described return flow type CVT (continuously variable transmission)
0And the speed ratio deviation e obfuscation gained between the actual speed ratio i;
The fuzzy parameter of described fuzzy controller output is by the fuzzy parameter reasoning gained of described input: according to the fuzzy parameter of the input scaling factor Kp to described PID regulator, integral coefficient Ki and differential coefficient Kd carry out behind the real-time optimization corresponding respectively fuzzy parameter;
Final realization reduces goals ratio i
0Speed ratio deviation e with actual speed ratio i.
2. according to the described super light mixed power automobile transmission system of claim 1 speed ratio fuzzy controller, it is characterized in that: according to the scaling factor Kp of the fuzzy parameter of importing to described PID regulator, integral coefficient Ki and differential coefficient Kd carry out real-time optimization: when the discontented foot-eye speed ratio of actual speed ratio requires, the scaling factor Kp of described PID regulator, integral coefficient Ki and the corresponding fuzzy parameter of differential coefficient Kd according to fuzzy rule along with the corresponding fuzzy parameter of speed ratio deviation e carries out respective change, by the scaling factor Kp of the PID regulator of gained behind the fuzzy parameter ambiguity solution, integral coefficient Ki and differential coefficient Kd will be along with the goals ratio i of return flow type CVT (continuously variable transmission)
0Change with the deviation of actual speed ratio i, make the actual speed ratio i of return flow type CVT (continuously variable transmission) can satisfy its goals ratio i preferably
0The requirement that changes.
3. according to the described super light mixed power automobile transmission system of claim 1 speed ratio fuzzy controller, it is characterized in that: get target engine or motor speed and real engine or motor speed difference signal, control the goals ratio i of described return flow type CVT (continuously variable transmission) by fuzzy controller
0
4. according to the described super light mixed power automobile transmission system of claim 1 speed ratio fuzzy controller, it is characterized in that: the actual speed ratio according to the output of return flow type CVT (continuously variable transmission) carries out feedback regulation to fuzzy controller, thereby operate in efficient district when guaranteeing motor work as far as possible, operate in during engine operation on optimal fuel economy or the best power source linearity curve.
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| CN104149779A (en) * | 2014-07-08 | 2014-11-19 | 江苏大学 | Vehicle power matching system with hydraulic mechanical continuously-variable transmission |
| CN104632416A (en) * | 2014-12-30 | 2015-05-20 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Control method for rotating speed of gas turbine |
| CN105422681A (en) * | 2015-12-30 | 2016-03-23 | 中国船舶重工集团公司第七一一研究所 | Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method |
| CN105673831A (en) * | 2015-12-24 | 2016-06-15 | 奇瑞汽车股份有限公司 | Variable speed control method for contiuously variable transmission |
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| CN108437971A (en) * | 2018-03-16 | 2018-08-24 | 重庆交通大学 | Super light mixed power automobile reversing starting operating mode division methods |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104149779B (en) * | 2014-07-08 | 2016-07-06 | 江苏大学 | Vehicle power matching system with hydraulic mechanical stepless gearbox |
| CN104149779A (en) * | 2014-07-08 | 2014-11-19 | 江苏大学 | Vehicle power matching system with hydraulic mechanical continuously-variable transmission |
| CN104632416A (en) * | 2014-12-30 | 2015-05-20 | 北京华清燃气轮机与煤气化联合循环工程技术有限公司 | Control method for rotating speed of gas turbine |
| CN105673831A (en) * | 2015-12-24 | 2016-06-15 | 奇瑞汽车股份有限公司 | Variable speed control method for contiuously variable transmission |
| CN105422681A (en) * | 2015-12-30 | 2016-03-23 | 中国船舶重工集团公司第七一一研究所 | Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method |
| CN105422681B (en) * | 2015-12-30 | 2018-02-16 | 中国船舶重工集团公司第七一一研究所 | Hydro-viscous speed governing clutch control method based on dynamic PID control |
| CN107922042B (en) * | 2016-02-29 | 2019-07-05 | 新泻原动机株式会社 | Ship propulsion method and marine propulsion |
| CN107922042A (en) * | 2016-02-29 | 2018-04-17 | 新泻原动机株式会社 | Ship propulsion method and marine propulsion |
| CN107922041A (en) * | 2016-02-29 | 2018-04-17 | 新泻原动机株式会社 | The control method and control device of motor |
| CN107922041B (en) * | 2016-02-29 | 2020-03-03 | 株式会社Ihi原动机 | Motor control method and control device |
| CN107983525A (en) * | 2017-12-04 | 2018-05-04 | 徐工集团工程机械有限公司 | Control method, dynamical system and the jaw crusher of dynamical system |
| CN108437971B (en) * | 2018-03-16 | 2019-11-15 | 重庆交通大学 | Super light mixed power automobile reversing starting operating condition division methods |
| CN108437971A (en) * | 2018-03-16 | 2018-08-24 | 重庆交通大学 | Super light mixed power automobile reversing starting operating mode division methods |
| CN109253185A (en) * | 2018-09-11 | 2019-01-22 | 阿尔特汽车技术股份有限公司 | A kind of control method that PHEV electromagnetic clutch quickly combines |
| CN109253185B (en) * | 2018-09-11 | 2021-12-07 | 阿尔特汽车技术股份有限公司 | Control method for fast combination of PHEV electromagnetic clutch |
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Application publication date: 20130821 |