电动汽车大阶比行星传动换挡抖动分析及其主动控制

项目名称： 电动汽车大阶比行星传动换挡抖动分析及其主动控制

项目编号： No.51475042

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 李军求

作者单位： 北京理工大学

项目金额： 80万元

中文摘要： 大阶比两档行星传动结构简单、传动效率高、传递转矩大，在电动汽车上具有 很好的应用前景，但由于换挡速差大、实际应用中离合器摩擦特性变化、液压系统参数不确定性，导致换挡发生抖动及其控制的鲁棒性等关键问题。本项目基于大阶比两档行星传动方案和组合式离合器换挡结构，建立换挡过程动力学模型和离合器结合过程系统扭振模型，分析抖动产生机理和影响规律；基于换挡品质优化模型得到的控制轨迹，运用静态输出反馈鲁棒性控制理论，提出电机转速跟踪控制和抑制变速箱输出轴转矩波动的控制的方法，应用发步法和控制量分配原则，设计离合器与电机协调控制的整体式换挡策略，实现良好的换挡品质，并解决针对离合器摩擦特性、液压系统参数不确定性的换挡鲁棒性控制问题。项目为我国电动车辆高效电驱动技术发展提供关键技术基础、理论水平和应用方案。

中文关键词： 行星传动；动力学模型；换挡抖动；主动控制；电动汽车

英文摘要： The two-gear planetary transmission with a large order features simple structure, high transmission efficiency and big transfer torque, which endows it with great application prospect in electric vehicles. However, the big shifting speed difference and the clutch friction change and hydraulic system parameters uncertainty in practical application result in shifting process judder and shifting robust control .This project is based on the two-gear planetary transmission and the shifting scheme of the combined clutch,the shifting dynamics mode and torsional vibration model during clutech engagement are built，the analysis is performed on the mechanism of shifting judder and influence rule.Based on the contolling trajectory obtained by optimization model on shift quality, the control method of motor speed tracking and inhibition of the output shaft torque ripple is proposed by static output feedback control theory, and the coordinated control strategy of the clutch pressure and the motor torque during integral shift is designed,based on backstepping technique and control allocation, and has excellent shift quality along with robustness problems on shift quality induced by the clutch friction characteristics and the hydraulic system model parameter uncertainty. Undoubtedly, this project furnishes the electric drive technology of electric vehicles in China with key technical basis, significant theoretical level and application solutions.

英文关键词： planetary transmission;dynamical model;shifting process judder;active control;electric vehicle