摘要
无人驾驶汽车在实际运行中面临许多无法预见的动态不确定因素,如道路状况、交通状况和天气状况。换挡自动控制过程难以应对这些动态不确定因素的影响,单环控、单控制阈值的模式会导致换挡过程的准确性、平稳性和快速性受到影响。提出了一种无人驾驶汽车变速器换挡过程自适应控制方法。设计一种变速器双同步换挡自适应控制方法,在该方法的逻辑结构中分为内外双环控制。内环称为速度环,外环称为转矩环,用于控制换挡过程变速器的传动比。在速度环中,将滤波后的电机转速作为输入与外环转矩环的控制输出进行比较。通过PI控制器计算实际转速与预期转速之间的偏差,并根据比例和积分系数来调整输出。在转矩环中,将滤波后的转矩数据作为输入与预期转矩进行比较。PI控制器根据差值进行控制,以调整变速器的传动比,实现双环同步控制。实验结果证明;采用所提出的方法可以显著提高控制效果。具体表现为决定系数的提高、换挡冲击度的减小以及换挡时间的缩短。
Unmanned vehicles face many unpredictable dynamic uncertainties in actual operation,such as road conditions,traffic conditions,and weather conditions.The automatic shift control process is difficult to cope with the impact of these dynamic uncertainties.The mode of single environmental control and single control threshold can affect the accuracy,smoothness,and speed of the shift process.A self-adaptive control method for the shifting process of an autonomous vehicle transmission is proposed.Design a dual synchronous shift adaptive control method for transmission,which is divided into internal and external dual loop control in the logical structure of the method.The inner ring is called the speed ring,and the outer ring is called the torque ring,which is used to control the transmission ratio of the transmission during the shifting process.In the speed loop,compare the filtered motor speed as input with the control output of the outer torque loop.Calculate the deviation between the actual speed and the expected speed through the PI controller,and adjust the output based on proportion and integration coefficient.In the torque loop,the filtered torque data is used as input to compare with the expected torque.The PI controller controls based on the difference to adjust the transmission ratio of the transmission and achieve dual loop synchronous control.Proof of experimental results;The proposed method can significantly improve the control effect.Specifically,it is manifested as an increase in the coefficient of determination,a decrease in gear shifting impact,and a reduction in gear shifting time.
作者
张斌
ZHANG Bin(Shanghai lndustrial and Commercial Polytechnic Intelligent manufacturing and Automotive Academy,Shanghai 201806)
出处
《环境技术》
2023年第10期162-168,175,共8页
Environmental Technology
关键词
无人驾驶汽车
变速器
换挡过程
自适应
控制器设计
内外双环控制
autonomous vehicles
transmission
shift process
adaptive
controller design
internal and external dual loop control
作者简介
张斌(1982.10-),男,硕士,讲师,主要研究方向:汽车电控技术、新能源汽车技术、智能网联汽车技术。
