CN105302981A - MATLAB simulation platform architecture based on automatic gearbox control strategy development - Google Patents
MATLAB simulation platform architecture based on automatic gearbox control strategy development Download PDFInfo
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- CN105302981A CN105302981A CN201510763257.7A CN201510763257A CN105302981A CN 105302981 A CN105302981 A CN 105302981A CN 201510763257 A CN201510763257 A CN 201510763257A CN 105302981 A CN105302981 A CN 105302981A
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Abstract
The invention provides MATLAB simulation platform architecture based on automatic gearbox control strategy development. The MATLAB simulation platform architecture comprises an initialization module, a control module, an execution mechanism module, a vehicle module, a road identification module and a data output module. The architecture can faithfully reflect automatic speed changing situations of a vehicle, and the development requirements of the whole vehicle and a control system are met.
Description
Technical field
The present invention relates to a kind of emulation platform framework, be specifically related to the MATLAB emulation platform framework based on the exploitation of automatic gear-box control strategy.
Background technology
The development mode of existing automatic gear-box control strategy mostly is rapid prototype development method.In order to the control strategy development requires of satisfied complexity, need to develop special based on MATLAB emulation platform.
Because control system has merged the multidisciplinary fields such as machinery, hydraulic pressure, electronics, control, work operating mode is extremely complicated, software systems are very huge, and local optimization methods cannot meet the optimization of whole system, and the connection of cross-system and exploitation further increase the difficulty of system debug, exploitation.
Therefore, need to carry out emulation platform framework according to the ambit of various parts, and build according to framework with this each section expert, finally complete the exploitation of automatic gear-box control strategy.
Summary of the invention
For achieving the above object, the invention provides a kind of MATLAB emulation platform framework based on the exploitation of automatic gear-box control strategy, make this platform can complete clutch coupling computational analysis, gear selecting computational analysis, gear shift computational analysis, the analysis of Clutch Control policy calculation, road spectrum calculate in one multisystem simulation analysis, for wheel box control strategy exploitation provide basis and complete checking.
In order to realize foregoing invention object, the present invention takes following technical scheme:
Based on the MATLAB emulation platform framework of automatic gear-box control strategy exploitation, comprising: initialization module, control module, actuator module, vehicle modules, road Identification module and data outputting module; Wherein,
Described initialization module, for vehicle-state, initialization and drive simulating person's intention;
Described control module, for according to sensor signal and driver intention signal determination Vehicular shift demand, and controls gearshift procedure, output clutch solenoid control electric current, selects gear-shifting solenoid valve to control electric current, engine target throttle and target gear;
Described actuator module, for simulated clutch topworks, gear box actuator and engine topworks;
Described vehicle modules, builds for completing according to real vehicles, and the parts selected according to vehicle carry out setting parameter; And calculate the rotating speed of each element, moment of torsion, moment of inertia and enabled instruction;
Described road Identification module, for road condition identification and hardware loop simulation again;
Described data outputting module, provides visualization window for providing the signal of system.
Preferably, described initialization module comprises: vehicle taxon, system start unit and driving manipulation unit;
Described vehicle classification unit, for setting the classification of wheel box and engine, comprises the speed governing feature of gearbox designs, the wheel box gear selecting number of axle, auxiliary transmission number and engine;
Described system start unit, for arranging various parts enabled instruction and initiation parameter;
Described driving manipulation unit, the full working scope for Simulation of Driver manipulates, and comprises the steerable gas pedal of driver, brake pedal and gear shifting handle.
Further, described vehicle classification unit, comprises wheel box classification subelement and engine classification subelement; Wherein, described wheel box classification subelement comprises automatic gear-box kind, wheel box gear selecting number of axle order and auxiliary transmission number.
Preferably, described sensor signal, comprises clutch actuating mechanism displacement signal, gear selecting topworks displacement signal, gear-shifting actuating mechanism displacement signal, engine rotational speed signal, transmission input shaft tach signal, vehicle speed signal and auxiliary transmission topworks displacement signal; Wherein,
Described driver intention signal comprises accelerator pedal signal, brake pedal signal and gear shifting handle signal.
Preferably, described clutch actuating mechanism, for the electromagnetic valve current exported according to control system, carries out oil-filled and drains the oil;
Described speed-changer executing mechanism, for the electromagnetic valve current exported according to control system, makes pressure oil enter into topworks by solenoid valve or the pressure oil in topworks is laid down, completes gear selecting and the gear shift of wheel box;
Described engine topworks, for the target throttle signal exported according to control system, the output torque of calculation engine.
Preferably, described vehicle modules, comprises engine start unit, engine unit, clutch unit, wheel box dynamic cell, transfer case unit, differential gear unit, drive axle unit and vehicle dynamic unit.
Preferably, described road Identification module, comprises road gradient judging unit, surface conditions judging unit and air resistance judging unit.
Preferably, described data outputting module, comprises parameter output unit and data acquisition unit; Wherein,
Described parameter output unit, for being exported with structureWithTime by simulation result, deposits the work space to MATLAB, and related data is drawn as chart by the M program calling matlab, carries out off-line data detection;
Data acquisition unit, together with the dutycycle of solenoid valve being listed in gearbox operating mechanism pressure signal, Real-Time Monitoring handles the consistance of oil pressure and topworks and gearbox gear-shift action.
Compared with prior art, the beneficial effect that the present invention reaches is:
Establish the MATLAB emulation platform framework based on the exploitation of automatic gear-box control strategy, gearbox-type, gear, the mode of speed regulation of engine, the situation such as windage situation and road surface can be set flexibly, and model adjusts automatically with these parameters, the application of present stage and follow-up exploitation needs can be met, improve development efficiency.
Accompanying drawing explanation
Fig. 1 is a kind of MATLAB emulation platform configuration diagram based on the exploitation of automatic gear-box control strategy; Wherein, 1-initialization module, 2-control module, 3-actuator module, 4-data outputting module, 5-vehicle modules, 6-road Identification module;
Embodiment
Below with reference to accompanying drawing, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, based on the MATLAB emulation platform framework of automatic gear-box control strategy exploitation, comprising: initialization module (1), control module (2), execution module (5), vehicle modules (3), road Identification module (6) and data outputting module (4); Wherein, initialization module, for vehicle-state, initialization and drive simulating person's intention; It comprises: vehicle taxon, system start unit and driving manipulation unit; Wherein:
Vehicle classification unit, for setting the classification of wheel box and engine.
It comprises: wheel box classification subelement and engine classification subelement; Wherein, described wheel box classification subelement, comprises automatic gear-box kind, wheel box gear selecting number of axle order and auxiliary transmission number; Described engine classification subelement, comprises engine type, engine governed speed mode.
Described system start unit, for arranging various parts enabled instruction and initiation parameter; Shown in composition graphs 1 and table 1:
Table 1
Described driving manipulation unit, the full working scope for Simulation of Driver manipulates, and comprises the steerable gas pedal of driver, brake pedal and gear shifting handle.
Control module, for according to sensor signal and driver intention signal determination Vehicular shift demand, and controls gearshift procedure, output clutch solenoid control electric current, selects gear-shifting solenoid valve to control electric current, engine target throttle and target gear;
Described sensor signal, comprises clutch actuating mechanism displacement signal, gear selecting topworks displacement signal, gear-shifting actuating mechanism displacement signal, engine rotational speed signal, transmission input shaft tach signal, vehicle speed signal and auxiliary transmission topworks displacement signal;
Described driver intention signal comprises accelerator pedal signal, brake pedal signal and gear shifting handle signal.
Actuator module, for simulated clutch topworks, gear box actuator and engine topworks;
Described clutch actuating mechanism, for the electromagnetic valve current exported according to control system, carries out oil-filled and drains the oil;
Described speed-changer executing mechanism, for the electromagnetic valve current exported according to control system, makes pressure oil enter into topworks by solenoid valve or the pressure oil in topworks is laid down, completes gear selecting and the gear shift of wheel box;
Described engine topworks, for the target throttle signal exported according to control system, the output torque of calculation engine.
Vehicle modules, builds for completing according to real vehicles, and the parts selected according to vehicle carry out setting parameter; And calculate the rotating speed of each element, moment of torsion, moment of inertia and enabled instruction; It comprises: engine start unit, engine unit, clutch unit, wheel box dynamic cell, transfer case unit, differential gear unit, drive axle unit and vehicle dynamic unit.
Road Identification module, for road condition identification and hardware loop simulation again; It comprises road gradient judging unit, surface conditions judging unit and air resistance judging unit.
Data outputting module, provides visualization window for providing the signal of system.It comprises, parameter output unit and data acquisition unit; Wherein, described parameter output unit, for simulation result to be exported to the work space of MATLAB with structureWithTime, and is drawn as chart by special m program by related data, carries out off-line data detection;
Described data acquisition unit, for the dutycycle of solenoid valve, wheel box are handled pressure signal and be listed in together, Real-Time Monitoring handles the consistance of oil pressure and topworks and gearbox gear-shift action.If mechanical governing engine, then need to simulate the E-Gas topworks of mechanical speed governors formula engine.
This emulation platform framework adopts modular design, has merged machinery, hydraulic pressure, electronics, control scheduling theory, has built multisystem dynamic simulation mathematic model; By using clutch coupling computational analysis, gear selecting computational analysis, gear shift computational analysis, Clutch Control policy calculation analyze and the multisystem simulation analysis software of engine Collaborative Control, automatically completes the static state of speed change system, dynamic simulation analysis.
Before emulation starts, according to the ride characteristic of vehicle actual conditions, surface conditions and driver, the m program calling matlab carries out the setting of initialization and road Identification correlation parameter.
After emulation starts, the data that vehicle modules is provided by initialization module, road surface identification module, calculate engine speed, transmission input shaft rotating speed, the speed of a motor vehicle, longitudinal direction of car acceleration etc.
Control system module, according to the comprehensive descision to vehicle modules, execution module, initialization module and road Identification module, exports the target gear of vehicle and solenoid control electric current and engine target throttle.
The solenoid control electric current that actuator module exports according to control system module and engine target throttle, output gearbox choosing, gear-shifting actuating mechanism displacement and clutch actuating mechanism displacement, simultaneously output engine current output torque.
The parameters input vehicle modules that actuator module exports is carried out cycle calculations, until emulation terminates.
For ease of direct observation data, data outputting module application scope figure observation data, simultaneously in order to compare the control effects of control system, can apply the m programming plotter program of MATLAB.
Through experiment, the MATLAB emulation platform framework based on the exploitation of automatic gear-box control strategy that the present invention proposes has been successfully applied in 6X6 Vehicle De L'Avant Blinde By Creussot, 4X4 Vehicle De L'Avant Blinde By Creussot, Hangzhou bus, the calculating of control system of 8X8 Vehicle De L'Avant Blinde By Creussot, simulation analysis.Verified by above-mentioned vehicle, this emulation platform frame design is reasonable, is beneficial to the expansion of system and stretches, can meet the application of present stage and follow-up exploitation needs.This emulation platform framework shift schedule is reasonable in design, meets vehicle actual travel situation; Make clutch coupling, wheel box achieves dynamic simulation, reflect automobile automatic gear situation authentic and validly, and meet the development requires of car load and control system.In addition, this platform to replace real vehicle to carry out control system and hydraulic system research.
This patent shortens the construction cycle of control system, reduces R&D costs, and increases work efficiency.Meanwhile, this patent can be extended to the fields such as other foreign trade vehicles, car, medium and heavy cargo vehicle electric motor car, is conducive to increasing economic efficiency.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; those of ordinary skill in the field still can modify to the specific embodiment of the present invention with reference to above-described embodiment or equivalent replacement; these do not depart from any amendment of spirit and scope of the invention or equivalent replacement, are all applying within the claims of the present invention awaited the reply.
Claims (8)
1., based on the MATLAB emulation platform framework of automatic gear-box control strategy exploitation, it is characterized in that, comprising: initialization module, control module, actuator module, vehicle modules, road Identification module and data outputting module; Wherein,
Described initialization module, for vehicle-state, initialization and drive simulating person's intention;
Described control module, for according to sensor signal and driver intention signal determination Vehicular shift demand, and controls gearshift procedure, output clutch solenoid control electric current, selects gear-shifting solenoid valve to control electric current, engine target throttle and target gear;
Described actuator module, for simulated clutch topworks, gear box actuator and engine topworks;
Described vehicle modules, builds for completing according to real vehicles, and the parts selected according to vehicle carry out setting parameter; And calculate the rotating speed of each element, moment of torsion, moment of inertia and enabled instruction;
Described road Identification module, for road condition identification and hardware loop simulation again;
Described data outputting module, provides visualization window for providing the signal of system.
2. emulation platform framework according to claim 1, is characterized in that, described initialization module comprises: vehicle taxon, system start unit and driving manipulation unit;
Described vehicle classification unit, for setting the classification of wheel box and engine, comprises the speed governing feature of gearbox designs, the wheel box gear selecting number of axle, auxiliary transmission number and engine;
Described system start unit, for arranging various parts enabled instruction and initiation parameter;
Described driving manipulation unit, the full working scope for Simulation of Driver manipulates, and comprises the steerable gas pedal of driver, brake pedal and gear shifting handle.
3. emulation platform framework according to claim 2, is characterized in that, described vehicle classification unit, comprises wheel box classification subelement and engine classification subelement; Wherein, described wheel box classification subelement comprises automatic gear-box kind, wheel box gear selecting number of axle order and auxiliary transmission number.
4. emulation platform framework according to claim 1, it is characterized in that, described sensor signal, comprises clutch actuating mechanism displacement signal, gear selecting topworks displacement signal, gear-shifting actuating mechanism displacement signal, engine rotational speed signal, transmission input shaft tach signal, vehicle speed signal and auxiliary transmission topworks displacement signal; Wherein,
Described driver intention signal comprises accelerator pedal signal, brake pedal signal and gear shifting handle signal.
5. emulation platform framework according to claim 1, is characterized in that, described clutch actuating mechanism, for the electromagnetic valve current exported according to control system, carries out oil-filled and drains the oil;
Described speed-changer executing mechanism, for the electromagnetic valve current exported according to control system, makes pressure oil enter into topworks by solenoid valve or the pressure oil in topworks is laid down, completes gear selecting and the gear shift of wheel box;
Described engine topworks, for the target throttle signal exported according to control system, the output torque of calculation engine.
6. emulation platform framework according to claim 1, it is characterized in that, described vehicle modules, comprises engine start unit, engine unit, clutch unit, wheel box dynamic cell, transfer case unit, differential gear unit, drive axle unit and vehicle dynamic unit.
7. emulation platform framework according to claim 1, is characterized in that, described road Identification module, comprises road gradient judging unit, surface conditions judging unit and air resistance judging unit.
8. emulation platform framework according to claim 1, is characterized in that, described data outputting module comprises parameter output unit and data acquisition unit; Wherein,
Described parameter output unit, for being exported with structureWithTime by simulation result, deposits the work space to MATLAB, and related data is drawn as chart by the M program calling matlab, carries out off-line data detection;
Data acquisition unit, together with the dutycycle of solenoid valve being listed in gearbox operating mechanism pressure signal, Real-Time Monitoring handles the consistance of oil pressure and topworks and gearbox gear-shift action.
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| CN109407553A (en) * | 2018-12-19 | 2019-03-01 | 海马汽车有限公司 | Speed Control emulation mode and device |
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