CN105673833B - Hydraulic gear-shifting hydraulic control method based on proportion magnetic valve - Google Patents

Hydraulic gear-shifting hydraulic control method based on proportion magnetic valve Download PDF

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CN105673833B
CN105673833B CN201610016613.3A CN201610016613A CN105673833B CN 105673833 B CN105673833 B CN 105673833B CN 201610016613 A CN201610016613 A CN 201610016613A CN 105673833 B CN105673833 B CN 105673833B
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China
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mrow
current
oil pressure
magnetic valve
inductance
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CN201610016613.3A
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CN105673833A (en
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黄开胜
江永亨
卓晴
鲁畅
张尧
郭书彪
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清华大学
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04Smoothing ratio shift
    • F16H61/06Smoothing ratio shift by controlling rate of change of fluid pressure
    • F16H61/061Smoothing ratio shift by controlling rate of change of fluid pressure using electric control means
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/0021Generation or control of line pressure
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0251Elements specially adapted for electric control units, e.g. valves for converting electrical signals to fluid signals
    • F16H2061/0255Solenoid valve using PWM or duty-cycle control
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0251Elements specially adapted for electric control units, e.g. valves for converting electrical signals to fluid signals
    • F16H2061/0258Proportional solenoid valve

Abstract

The invention provides a kind of hydraulic gear-shifting hydraulic control method based on proportion magnetic valve.In the hydraulic gear-shifting hydraulic control method based on proportion magnetic valve according to the present invention, first without using temperature sensor, equivalent inductance L that direct measurement goes out in the proportion magnetic valve course of workd;And then obtain proportion magnetic valve output oil pressure P and average current I and equivalent inductance L under each oil temperaturedRelation curve, and obtained data are stored in database, are easy to the calling of control process;Then control process is divided into s sections, utilizes the output oil pressure P in database and average current I and equivalent inductance LdRelation curve in each section of control process proportion magnetic valve carry out feedforward control, PID/feedback control is carried out after the completion of feedforward control, to reduce the deviation of reality output oil pressure and preferable oil pressure in each section of control process, reduce the oil shock during hydraulic gear-shifting.

Description

Hydraulic gear-shifting hydraulic control method based on proportion magnetic valve

Technical field

The present invention relates to field of hydraulic control, more particularly to a kind of hydraulic gear-shifting oil pressure cntrol side based on proportion magnetic valve Method.

Background technology

In the shift process of speed changer, according to the change of fluid oil pressure and Oil feeding process, it can be classified as:Quickly fill Oily stage, buffer stage, step boost phase and voltage stabilizing stage Four processes.In buffer stage, if the change of actual oil pressure is bent Line and preferable oil pressure curve difference are larger, then easily cause shift shock.So the closed loop of oil liquid pressure is carried out to shifting system Controlled with compensation, have focused largely on buffer stage, even if the deviation of the oil pressure change curve of buffer stage and preferable oil pressure curve It is small as far as possible.

In conventional control program, using preferable oil pressure curve as target, closed loop control is carried out to gearshift system oil pressure change System.But this kind of method some does not account for the change of system oil liquid temperature, have plenty of advanced rower and determine, try to achieve temperature to oil pressure Influence, in this, as feedforward control, then carry out the closed-loop control of oil pressure.The method workload of this demarcation is big and needs temperature to pass Sensor.

The content of the invention

In view of problem present in background technology, it is an object of the invention to provide a kind of hydraulic pressure based on proportion magnetic valve Gearshift hydraulic control method, it can utilize the equivalent inductance of the proportion magnetic valve of measurement, and feedforward control is carried out to the oil pressure of output And feedback control, the deviation of reality output oil pressure and preferable oil pressure is reduced, reduces the oil shock of hydraulic gear-shifting.

To achieve these goals, the invention provides a kind of hydraulic gear-shifting oil pressure cntrol side based on proportion magnetic valve Method, it includes step 1 and arrives step 8.

Step 1:Comparative example magnetic valve inputs pwm signal, and utilize the voltage signal of data collecting module collected input The data point of data point and corresponding current signal, and then obtain steady-state current voltage waveform;Wherein the frequency of pwm signal is f Hz, dutycycle D%, the voltage magnitude of pwm signal is E;The sample frequency of data acquisition module is F Hz, the one of pwm signal In the individual cycle, the data points of the voltage signal of collection and the data of corresponding current signal are counted:

The voltage signal in the c cycle of output of pwm signal, the total data points collected are cn.

Step 2:From the extracting data current curve of collection:The voltage of pwm signal input only has two states of 0V and E, If voltage is t from the 0V time points for jumping to E1, voltage is t from the E time points for jumping to 0V2, then in t1~t2Period Interior current signal is propradation, and obtained current curve is ascending curve;Voltage is from 0V in the data point gathered in step 1 The collection for jumping to E all trip points is combined into T1, the collection that voltage jumps to 0V all trip points from E is combined into T2, T1And T1Ask The method is taken to be:

If Volt(m+1)-Voltm>E1, then T1(k)=tm

If Volt(m+1)-Voltm<-E1, then T2(k)=tm

Wherein, tmAt the time of representing m points, VoltmRepresent the magnitude of voltage of m points, k ∈ (0, m), E1=0.8E.

If T2(1)<T1(1) T, is then removed2(1) current signal data point corresponding to;If T1Data points compare T2's Data points are more one, then remove T1Last corresponding current signal data point, ensure T2(1)>T1(1) and correspondingly Current signal data points it is identical;So in arbitrary period T1(k)~T2(k) current curve corresponding to is kth section Current curve, current function corresponding to the current curve are I (k), thus extract all electric currents corresponding to the data point of collection Curve and current function.

Step 3:Elimination noise processed is carried out to obtained all current curves:Work as j adjacent electric current for pwm signal The time interval of curve is considered as electrical characteristic parameter and not changed when within 2j, and this j current curve is asked by following formula And average treatment, to have the function that to eliminate noise:

Wherein, I0(k) to eliminate the current function after noise, I (k) is the kth section current function of interception.

Step 4:Polynomial curve fitting is carried out to the current curve after elimination noise, obtains inductance change curve.

Average current in proportion electro-magnet circuit is I, and I is by the current function I after all elimination noises for collecting0 (k) the electric current sum-average arithmetic in obtains;Equivalent resistance in proportion electro-magnet circuit is R,

When inductance keeps constant, the inductance in proportion electro-magnet circuit is L, then curent change relation meets following Functional relation:

Wherein, i (t) is electric current i and time t relation function, and i (0) is initial current, and i (∞) is saturation current.

When inductance changes, the function L (i) using inductance as electric current, electric current i change procedure is divided into l sections, Mei Yiduan Inductance in Δ t regards constant L asp, then in whole process, curent change meets following functional relation:

When l tends to infinity, the change function of electric current is as follows:

Wherein, i (0) is initial current, and i (∞) is saturation current, and i (∞)=I/ (D%);

To above formula derivation, relation function Ls (t) of the inductance L with time t is obtained:

L (t)=R* (i (∞)-i (t))/(di/dt).

Step 5:The skew component in inductance function L (t) is rejected, obtains effective equivalent inductance Ld

The larger starting of deviation and termination phase are rejected, and retains the intermediate change stable interstage, to be corrected Inductance function L ' (t).

If dL (t)/dt < M, then L ' (t)=L (t), wherein M are artificially to be set according to inductance function L (t) and its derivative Fixed value;

The inductance function L ' (t) of amendment is averaged again, that is, obtains required effective equivalent inductance Ld

Ld=mean (L ' (t)).

Step 6:Demarcate the output oil pressure P and average current I and equivalent inductance L of proportion magnetic valvedRelation curve.

Under an oil temperature, comparative example magnetic valve input duty cycle is D% pwm signal, reaches steady in proportion magnetic valve After state, average current I and equivalent inductance L are obtained according to step 1 to step 5d, and the output oil pressure P of measurement scale magnetic valve.

Step 7:The repeat step 6 under each oil temperature, obtain proportion magnetic valve under each oil temperature output oil pressure P with it is average Electric current I and equivalent inductance LdRelation curve, and by obtained data be stored in database, be easy to call.

Step 8:The oil pressure cntrol process of proportion magnetic valve is divided into s sections, and each section of duration in s sections is ts, and Each section of control process is divided into:Analysis phase, duration ts1;Feedforward control stage, duration ts2;And Feedback control stage, duration ts3;And ts=ts1+ts2+ts3

Analysis phase:The oil pressure of output is set as P0, the data in database are called, obtain oil pressure P at normal temperatures0It is required The dutycycle for the pwm signal wanted is D0%, and this pwm signal is inputted into proportion magnetic valve, obtained very according to step 1 to step 5 Real average current IfWith equivalent inductance Lf, according to dutycycle D0%, average current IfWith equivalent inductance Lf, obtained with reference to database The oil temperature T of the periodf

The feedforward control stage:According to oil temperature TfWith the oil pressure P of setting0, now required PWM letters are obtained with reference to database Number dutycycle Df%, and the pwm signal is inputted into proportion magnetic valve.

The feedback control stage:The stage is divided into multistep, often walks the actual oil pressure using proportion magnetic valve output as feedback quantity, PID control is carried out to oil pressure, to obtain the reality output curve of oil pressure;Incremental timestamp is used in the feedback control stage, is controlled Formula processed is as follows:

Δ D (w)=D (w)-D (w-1)

Δ D (w)=KP[e(w)-e(w-1)]+KIe(w)+KD[e(w)-2e(w-1)+e(w-2)]

Wherein, KP, KI, KDRespectively ratio, integration and differential parameter, D (w) are the duty of the pwm signal of w step inputs Than e (w) is the setting oil pressure of w steps and the deviation of actual oil pressure.

By adjusting scale parameter KP, integral parameter KIWith differential parameter KD, to adjust pwm signal between adjacent two step The increment Delta D (w) of dutycycle, and then reduce the deviation of setting oil pressure and actual oil pressure so that the oil pressure of this section of output reaches P0, And the change of the reality output curve of oil pressure linearly changes.

The segments s of the oil pressure cntrol process of selection percentage magnetic valve, it is as follows:

Suitable segments s is selected according to the following formula:

Wherein, P (j), P0(j) be respectively jth step reality output oil pressure and set output oil pressure, Δ piFor i-th section of control The departure degree of the reality output oil pressure of process processed and the output oil pressure set, Δ p are the reality output oil of whole control process The departure degree of pressure and the output oil pressure set, k are the total step number of every section of control process.

Choose multiple segments to be tested, find out the minimum segments s of Δ p, each section all controls in a manner mentioned above System.

Beneficial effects of the present invention are as follows:

In the hydraulic gear-shifting hydraulic control method based on proportion magnetic valve according to the present invention, it is first depending on step 1 and arrives Step 5 is without using temperature sensor, equivalent inductance L that direct measurement goes out in the proportion magnetic valve course of workd;And then according to step Rapid 6 and step 7 obtain proportion magnetic valve output oil pressure P and average current I and equivalent inductance L under each oil temperaturedRelation it is bent Line, and obtained data are stored in database, it is easy to the calling of control process;Then in step 8, control process is divided into s Section, utilizes the output oil pressure P in database and average current I and equivalent inductance LdRelation curve in each section of control process Proportion magnetic valve carries out feedforward control, and PID/feedback control is carried out after the completion of feedforward control, real in each section of control process to reduce The deviation of border output oil pressure and preferable oil pressure, reduce the oil shock during hydraulic gear-shifting.

Embodiment

The following detailed description of the hydraulic gear-shifting hydraulic control method based on proportion magnetic valve of the present invention.

Step 8 is arrived including step 1 according to the hydraulic gear-shifting hydraulic control method based on proportion magnetic valve of the present invention.

Step 1:Comparative example magnetic valve inputs pwm signal, and utilize the voltage signal of data collecting module collected input The data point of data point and corresponding current signal, and then obtain steady-state current voltage waveform;Wherein the frequency of pwm signal is f Hz, dutycycle D%, the voltage magnitude of pwm signal is E;The sample frequency of data acquisition module is F Hz, the one of pwm signal In the individual cycle, the data points of the voltage signal of collection and the data of corresponding current signal are counted:

The voltage signal in the c cycle of output of pwm signal, the total data points collected are cn.

Step 2:From the extracting data current curve of collection:The voltage of pwm signal input only has two states of 0V and E, If voltage is t from the 0V time points for jumping to E1, voltage is t from the E time points for jumping to 0V2, then in t1~t2Period Interior current signal is propradation, and obtained current curve is ascending curve;Voltage is from 0V in the data point gathered in step 1 The collection for jumping to E all trip points is combined into T1, the collection that voltage jumps to 0V all trip points from E is combined into T2, T1And T1Ask The method is taken to be:

If Volt(m+1)-Voltm>E1, then T1(k)=tm

If Volt(m+1)-Voltm<-E1, then T2(k)=tm

Wherein, tmAt the time of representing m points, VoltmRepresent the magnitude of voltage of m points, k ∈ (0, m), E1=0.8E.

If T2(1)<T1(1) T, is then removed2(1) current signal data point corresponding to;If T1Data points compare T2's Data points are more one, then remove T1Last corresponding current signal data point, ensure T2(1)>T1(1) and correspondingly Current signal data points it is identical;So in arbitrary period T1(k)~T2(k) current curve corresponding to is kth section Current curve, current function corresponding to the current curve are I (k), thus extract all electric currents corresponding to the data point of collection Curve and current function.

Step 3:Elimination noise processed is carried out to obtained all current curves:Work as j adjacent electric current for pwm signal The time interval of curve is considered as electrical characteristic parameter and not changed when within 2j, and this j current curve is asked by following formula And average treatment, to have the function that to eliminate noise:

Wherein, I0(k) to eliminate the current function after noise, I (k) is the kth section current function of interception.

Step 4:Polynomial curve fitting is carried out to the current curve after elimination noise, obtains inductance change curve.

Because proportion electro-magnet circuit can regard single order resistance-inductance series circuit as, unlike common firstorder circuit, Its inductance is variable, that is to say, that the time constant of system be not it is constant, in this case, it is impossible to simple index Type function is fitted.

Average current in proportion electro-magnet circuit is I, and I is by the current function I after all elimination noises for collecting0 (k) the electric current sum-average arithmetic in obtains;Equivalent resistance in proportion electro-magnet circuit is R,

When inductance keeps constant, the inductance in proportion electro-magnet circuit is L, then curent change relation meets following Functional relation:

Wherein, i (t) is electric current i and time t relation function, and i (0) is initial current, and i (∞) is saturation current.

When inductance changes, the function L (i) using inductance as electric current, electric current i change procedure is divided into l sections, Mei Yiduan Inductance in Δ t regards constant L asp, then in whole process, curent change meets following functional relation:

When l tends to infinity, the change function of electric current is as follows:

Wherein, i (0) is initial current, and i (∞) is saturation current, and i (∞)=I/ (D%);

To above formula derivation, relation function Ls (t) of the inductance L with time t is obtained:

L (t)=R* (i (∞)-i (t))/(di/dt).

Step 5:The skew component in inductance function L (t) is rejected, obtains effective equivalent inductance Ld

Although the effect that polynomial curve fitting is carried out to current curve is preferable, the starting of current curve and termination rank Section can have larger deviation, influence the degree of accuracy of result;Reject the larger starting of deviation and termination phase, and anaplasia in reservation Change the stable interstage, with the inductance function L ' (t) corrected.

If dL (t)/dt < M, then L ' (t)=L (t), wherein M are artificially to be set according to inductance function L (t) and its derivative Fixed value;

The inductance function L ' (t) of amendment is averaged again, that is, obtains required effective equivalent inductance Ld

Ld=mean (L ' (t)).

Step 6:Demarcate the output oil pressure P and average current I and equivalent inductance L of proportion magnetic valvedRelation curve.

Under an oil temperature, comparative example magnetic valve input duty cycle is D% pwm signal, reaches steady in proportion magnetic valve After state, average current I and equivalent inductance L are obtained according to step 1 to step 5d, and the output oil pressure P of measurement scale magnetic valve.

Step 7:The repeat step 6 under each oil temperature, obtain proportion magnetic valve under each oil temperature output oil pressure P with it is average Electric current I and equivalent inductance LdRelation curve, and by obtained data be stored in database, be easy to call.

Step 8:The oil pressure cntrol process of proportion magnetic valve is divided into s sections, and each section of duration in s sections is ts, and Each section of control process is divided into:Analysis phase, duration ts1;Feedforward control stage, duration ts2;And Feedback control stage, duration ts3;And ts=ts1+ts2+ts3

Analysis phase:The oil pressure of output is set as P0, the data in database are called, obtain oil pressure P at normal temperatures0It is required The dutycycle for the pwm signal wanted is D0%, and this pwm signal is inputted into proportion magnetic valve, obtained very according to step 1 to step 5 Real average current IfWith equivalent inductance Lf, according to dutycycle D0%, average current IfWith equivalent inductance Lf, obtained with reference to database The oil temperature T of the periodf

The feedforward control stage:According to oil temperature TfWith the oil pressure P of setting0, now required PWM letters are obtained with reference to database Number dutycycle Df%, and the pwm signal is inputted into proportion magnetic valve.

The feedback control stage:The stage is divided into multistep, often walks the actual oil pressure using proportion magnetic valve output as feedback quantity, PID control is carried out to oil pressure, to obtain the reality output curve of oil pressure;Incremental timestamp is used in the feedback control stage, is controlled Formula processed is as follows:

Δ D (w)=D (w)-D (w-1)

Δ D (w)=KP[e(w)-e(w-1)]+KIe(w)+KD[e(w)-2e(w-1)+e(w-2)]

Wherein, KP, KI, KDRespectively ratio, integration and differential parameter, D (w) are the duty of the pwm signal of w step inputs Than e (w) is the setting oil pressure of w steps and the deviation of actual oil pressure.

By adjusting scale parameter KP, integral parameter KIWith differential parameter KD, to adjust pwm signal between adjacent two step The increment Delta D (w) of dutycycle, and then reduce the deviation of setting oil pressure and actual oil pressure so that the oil pressure of this section of output reaches P0, And the change of the reality output curve of oil pressure linearly changes that (in real process, the change of the reality output curve of oil pressure is not For preferable linear change, as long as meeting that the change of the reality output curve of oil pressure linearly changes as far as possible).

The segments s of the oil pressure cntrol process of selection percentage magnetic valve, it is as follows:

In order that oil pressure reality output curve and setting ideal curve deviation it is as small as possible, then proportion magnetic valve The segments of oil pressure cntrol process is more;But because hydraulic system has larger inertia, if segments is more, it can control Stable state is unable to reach at the end of process processed, that is, is not reaching to the oil pressure P of setting0;So in order that deviation is minimum and can make control Reach stable state at the end of process, it is necessary to select suitable segments s according to the following formula:

Wherein, P (j), P0(j) be respectively jth step reality output oil pressure and set output oil pressure, Δ piFor i-th section of control The departure degree of the reality output oil pressure of process processed and the output oil pressure set, Δ p are the reality output oil of whole control process The departure degree of pressure and the output oil pressure set, k are the total step number of every section of control process.

Choose multiple segments to be tested, find out the minimum segments s of Δ p, each section all controls in a manner mentioned above System, the departure degree of reality output oil pressure and the output oil pressure set can be made minimum, degree of fitting highest.

In the hydraulic gear-shifting hydraulic control method based on proportion magnetic valve according to the present invention, it is first depending on step 1 and arrives Step 5 is without using temperature sensor, equivalent inductance L that direct measurement goes out in the proportion magnetic valve course of workd;And then according to step Rapid 6 and step 7 obtain proportion magnetic valve output oil pressure P and average current I and equivalent inductance L under each oil temperaturedRelation it is bent Line, and obtained data are stored in database, it is easy to the calling of control process;Then in step 8, control process is divided into s Section, utilizes the output oil pressure P in database and average current I and equivalent inductance LdRelation curve in each section of control process Proportion magnetic valve carries out feedforward control, and PID/feedback control is carried out after the completion of feedforward control, real in each section of control process to reduce The deviation of border output oil pressure and preferable oil pressure, reduce the oil shock during hydraulic gear-shifting.

It is in one embodiment, defeated in the hydraulic gear-shifting hydraulic control method based on proportion magnetic valve according to the present invention The dutycycle for entering the pwm signal of proportion magnetic valve is 40%~80%.

Claims (2)

1. a kind of hydraulic gear-shifting hydraulic control method based on proportion magnetic valve, it is characterised in that including step:
Step 1:
Comparative example magnetic valve inputs pwm signal, and utilizes the data point of voltage signal of data collecting module collected input and right The data point for the current signal answered, and then obtain steady-state current voltage waveform;The wherein frequency of pwm signal is f Hz, dutycycle D%, the voltage magnitude of pwm signal is E;The sample frequency of data acquisition module is F Hz, in a cycle of pwm signal, The data points of the voltage signal of collection and the data of corresponding current signal are counted:
<mrow> <mi>n</mi> <mo>=</mo> <mfrac> <mrow> <mi>F</mi> <mo>&amp;times;</mo> <mi>D</mi> <mi>%</mi> </mrow> <mi>f</mi> </mfrac> <mo>;</mo> </mrow>
The voltage signal in the c cycle of output of pwm signal, the total data points collected are cn;
Step 2:
From the extracting data current curve of collection:The voltage of pwm signal input only has two states of 0V and E, if voltage is from 0V The time point for jumping to E is t1, voltage is t from the E time points for jumping to 0V2, then in t1~t2Period in current signal For propradation, obtained current curve is ascending curve;Voltage jumps to E's from 0V in the data point gathered in step 1 The collection of all trip points is combined into T1, the collection that voltage jumps to 0V all trip points from E is combined into T2, T1And T1Acquiring method be:
If Volt(m+1)-Voltm>E1, then T1(k)=tm
If Volt(m+1)-Voltm<-E1, then T2(k)=tm
Wherein, tmAt the time of representing m points, VoltmRepresent the magnitude of voltage of m points, k ∈ (0, m), E1=0.8E;
If T2(1)<T1(1) T, is then removed2(1) current signal data point corresponding to;If T1Data points compare T2Data Points are more one, then remove T1Last corresponding current signal data point, ensure T2(1)>T1And corresponding electricity (1) The data points for flowing signal are identical;So in arbitrary period T1(k)~T2(k) current curve corresponding to is the electric current of kth section Curve, current function corresponding to the current curve are I (k), thus extract all current curves corresponding to the data point of collection And current function;
Step 3:
Elimination noise processed is carried out to obtained all current curves:Work as the time of j adjacent current curve for pwm signal When being spaced within 2j, be considered as electrical characteristic parameter and do not change, by this j current curve by following formula sum-average arithmetic at Reason, to have the function that to eliminate noise:
<mrow> <msub> <mi>I</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mn>1</mn> <mi>j</mi> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>j</mi> </munderover> <mi>I</mi> <mrow> <mo>(</mo> <mi>k</mi> <mo>)</mo> </mrow> </mrow>
Wherein, I0(k) to eliminate the current function after noise, I (k) is the kth section current function of interception;
Step 4:
Polynomial curve fitting is carried out to the current curve after elimination noise, obtains inductance change curve:
Average current in proportion electro-magnet circuit is I, and I is by the current function I after all elimination noises for collecting0(k) in Electric current sum-average arithmetic obtains;Equivalent resistance in proportion electro-magnet circuit is R,
<mrow> <mi>R</mi> <mo>=</mo> <mfrac> <mrow> <mi>E</mi> <mo>*</mo> <mi>D</mi> <mi>%</mi> </mrow> <mi>I</mi> </mfrac> <mo>;</mo> </mrow>
When inductance keeps constant, the inductance in proportion electro-magnet circuit is L, then curent change relation meets following function Relational expression:
<mrow> <mi>i</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>&amp;lsqb;</mo> <mi>i</mi> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>-</mo> <mi>i</mi> <mrow> <mo>(</mo> <mi>&amp;infin;</mi> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>*</mo> <mi>exp</mi> <mrow> <mo>(</mo> <mo>-</mo> <mfrac> <mi>R</mi> <mi>L</mi> </mfrac> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mi>i</mi> <mrow> <mo>(</mo> <mi>&amp;infin;</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
Wherein, i (t) is electric current i and time t relation function, and i (0) is initial current, and i (∞) is saturation current;
When inductance changes, the function L (i) using inductance as electric current, electric current i change procedure is divided into l sections, each section of Δ t Interior inductance regards constant L asp, then in whole process, curent change meets following functional relation:
<mrow> <mi>i</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>&amp;lsqb;</mo> <mi>i</mi> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>-</mo> <mi>i</mi> <mrow> <mo>(</mo> <mi>&amp;infin;</mi> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>*</mo> <mi>exp</mi> <mrow> <mo>(</mo> <mo>-</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>p</mi> <mo>=</mo> <mn>0</mn> </mrow> <mrow> <mi>l</mi> <mo>-</mo> <mn>1</mn> </mrow> </munderover> <mfrac> <mi>R</mi> <msub> <mi>L</mi> <mi>p</mi> </msub> </mfrac> <mi>&amp;Delta;</mi> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mi>i</mi> <mrow> <mo>(</mo> <mi>&amp;infin;</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
When l tends to infinity, the change function of electric current is as follows:
<mrow> <mi>i</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>=</mo> <mo>&amp;lsqb;</mo> <mi>i</mi> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>-</mo> <mi>i</mi> <mrow> <mo>(</mo> <mi>&amp;infin;</mi> <mo>)</mo> </mrow> <mo>&amp;rsqb;</mo> <mo>*</mo> <mi>exp</mi> <mrow> <mo>(</mo> <mo>-</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mi>t</mi> </msubsup> <mfrac> <mi>R</mi> <mrow> <mi>L</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>)</mo> </mrow> </mfrac> <mi>d</mi> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <mi>i</mi> <mrow> <mo>(</mo> <mi>&amp;infin;</mi> <mo>)</mo> </mrow> <mo>;</mo> </mrow>
Wherein, i (0) is initial current, and i (∞) is saturation current, and i (∞)=I/ (D%);
To above formula derivation, relation function Ls (t) of the inductance L with time t is obtained:
L (t)=R* (i (∞)-i (t))/(di/dt);
Step 5:
The skew component in inductance function L (t) is rejected, obtains effective equivalent inductance Ld
The larger starting of deviation and termination phase are rejected, and retains the intermediate change stable interstage, with the electricity corrected Feel function L ' (t):
If dL (t)/dt < M, then L ' (t)=L (t), wherein M are manually set according to inductance function L (t) and its derivative Value;
The inductance function L ' (t) of amendment is averaged again, that is, obtains required effective equivalent inductance Ld
Ld=mean (L ' (t));
Step 6:
Demarcate the output oil pressure P and average current I and equivalent inductance L of proportion magnetic valvedRelation curve:
Under an oil temperature, comparative example magnetic valve input duty cycle is D% pwm signal, after proportion magnetic valve reaches stable state, Average current I and equivalent inductance L are obtained according to step 1 to step 5d, and the output oil pressure P of measurement scale magnetic valve;
Step 7:
The repeat step 6 under each oil temperature, obtain proportion magnetic valve and output oil pressure P and average current I and waited under each oil temperature Imitate inductance LdRelation curve, and by obtained data be stored in database, be easy to call;
Step 8:
The oil pressure cntrol process of proportion magnetic valve is divided into s sections, and each section of duration in s sections is ts, and per one-stage control mistake Journey is divided into:Analysis phase, duration ts1;Feedforward control stage, duration ts2;And the feedback control stage, Duration is ts3;And ts=ts1+ts2+ts3
Analysis phase:The oil pressure of output is set as P0, the data in database are called, obtain oil pressure P at normal temperatures0Required The dutycycle of pwm signal is D0%, and this pwm signal is inputted into proportion magnetic valve, obtained really according to step 1 to step 5 Average current IfWith equivalent inductance Lf, according to dutycycle D0%, average current IfWith equivalent inductance Lf, when obtaining this with reference to database Between section oil temperature Tf
The feedforward control stage:According to oil temperature TfWith the oil pressure P of setting0, now required pwm signal is obtained with reference to database Dutycycle Df%, and the pwm signal is inputted into proportion magnetic valve;
The feedback control stage:The stage is divided into multistep, the actual oil pressure using proportion magnetic valve output is often walked as feedback quantity, to oil Pressure carries out PID control, to obtain the reality output curve of oil pressure;Incremental timestamp, control public affairs are used in the feedback control stage Formula is as follows:
Δ D (w)=D (w)-D (w-1)
Δ D (w)=KP[e(w)-e(w-1)]+KIe(w)+KD[e(w)-2e(w-1)+e(w-2)]
Wherein, KP, KI, KDRespectively ratio, integration and differential parameter, the dutycycle for the pwm signal that D (w) inputs for w steps, e (w) deviation of the setting oil pressure for w steps and actual oil pressure;
By adjusting scale parameter KP, integral parameter KIWith differential parameter KD, to adjust the duty of pwm signal between adjacent two step The increment Delta D (w) of ratio, and then reduce the deviation of setting oil pressure and actual oil pressure so that the oil pressure of this section of output reaches P0, and oil The change of the reality output curve of pressure linearly changes;
The segments s of the oil pressure cntrol process of selection percentage magnetic valve, it is as follows:
Suitable segments s is selected according to the following formula:
<mrow> <mi>s</mi> <mo>=</mo> <mi>m</mi> <mi>i</mi> <mi>n</mi> <mo>&amp;lsqb;</mo> <mi>&amp;Delta;</mi> <mi>p</mi> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>s</mi> </munderover> <msub> <mi>&amp;Delta;p</mi> <mi>i</mi> </msub> <mo>&amp;rsqb;</mo> </mrow>
<mrow> <msub> <mi>&amp;Delta;p</mi> <mi>i</mi> </msub> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>k</mi> </munderover> <mo>(</mo> <mi>p</mi> <mrow> <mo>(</mo> <mi>j</mi> <mo>)</mo> </mrow> <mo>-</mo> <msub> <mi>p</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>j</mi> <mo>)</mo> </mrow> <mo>)</mo> </mrow>
Wherein, P (j), P0(j) be respectively jth step reality output oil pressure and set output oil pressure, Δ piControlled for i-th section The departure degree of the reality output oil pressure of journey and the output oil pressure set, Δ p be whole control process reality output oil pressure and The departure degree of the output oil pressure of setting, k are the total step number of every section of control process;
Choose multiple segments to be tested, find out the minimum segments s of Δ p, each section all controls in a manner mentioned above.
2. the hydraulic gear-shifting hydraulic control method according to claim 1 based on proportion magnetic valve, it is characterised in that input The dutycycle of the pwm signal of proportion magnetic valve is 40%~80%.
CN201610016613.3A 2016-01-11 2016-01-11 Hydraulic gear-shifting hydraulic control method based on proportion magnetic valve CN105673833B (en)

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JPH0754978A (en) * 1993-08-20 1995-02-28 Honda Motor Co Ltd Hydraulic control circuit for hydraulically operated transmission for car
US5660449A (en) * 1995-04-28 1997-08-26 Nissan Motor Co., Ltd. Braking force control apparatus
CN101323245A (en) * 2008-06-16 2008-12-17 上海华普汽车有限公司 Double clutch hybrid power machine AMT speed-changer executing mechanism and control method
CN103410960A (en) * 2013-08-01 2013-11-27 北京汽车新能源汽车有限公司 Wet-type dual-clutch hydraulic control system and control method thereof
CN104126090A (en) * 2012-03-26 2014-10-29 爱信艾达株式会社 Solenoid valve control device and control method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0754978A (en) * 1993-08-20 1995-02-28 Honda Motor Co Ltd Hydraulic control circuit for hydraulically operated transmission for car
US5660449A (en) * 1995-04-28 1997-08-26 Nissan Motor Co., Ltd. Braking force control apparatus
CN101323245A (en) * 2008-06-16 2008-12-17 上海华普汽车有限公司 Double clutch hybrid power machine AMT speed-changer executing mechanism and control method
CN104126090A (en) * 2012-03-26 2014-10-29 爱信艾达株式会社 Solenoid valve control device and control method
CN103410960A (en) * 2013-08-01 2013-11-27 北京汽车新能源汽车有限公司 Wet-type dual-clutch hydraulic control system and control method thereof

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