Adaptive Sliding Mode Control of Shift Clutch In Hydraulic Mechanical Transmission Based on Linear Quadratic Optimization
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摘要:
为提高液压机械传动（HMT）换段离合器的转矩传递控制精度，改善其换段质量，提出一种基于线性二次型优化的自适应滑模控制方法. 首先，构建HMT换段动力学模型和离合器数值模型；其次，基于线性二次型优化模型求解目标泛函下换段离合器最优转矩传递轨迹，并结合动态摩擦因数模型，将该轨迹变量转换为考虑润滑油膜时变效应与摩擦界面动态接触特性的期望油压轨迹；最后，利用自适应滑模控制算法对期望油压轨迹进行跟踪控制. 仿真结果表明：与直接采用线性二次型控制方案相比，所提算法有效提高了换段离合器的转矩传递控制精度，换段时间缩短13.8%，滑摩功降低11.2%，最大冲击度减小39.1%；试验进一步证实，该算法在有效提高换段离合器转矩传递控制精度的同时，改善了HMT换段质量. 研究结果可为HMT装置工程应用中的换段控制策略制定提供参考.
Abstract:To improve the torque transmission control accuracy of the shift clutch in hydraulic mechanical transmission (HMT) and enhance its shift quality, an adaptive sliding mode control method based on linear quadratic optimization was proposed. Firstly, the shift dynamics model of HMT and the numerical model of the clutch were constructed. Secondly, the optimal torque transmission trajectory of the shift clutch was solved under the target functional based on the linear quadratic optimization model. Combined with the dynamic friction coefficient model, the trajectory variable was converted into the expected oil pressure trajectory considering the time-varying effect of the lubricating oil film and the dynamic contact characteristics of the friction interface. Finally, the adaptive sliding mode control algorithm was used to track and control the expected oil pressure trajectory. Simulation results show that compared with the direct application of the linear quadratic control scheme, the proposed algorithm effectively improves the torque transmission control accuracy of the shift clutch, shortens the shift time by 13.8%, reduces the sliding friction work by 11.2%, and decreases the maximum shock by 39.1%. Experiments further confirm that the algorithm not only effectively improves the torque transmission control accuracy of the shift clutch but also improves the shift quality of HMT. The research results can provide a reference for the formulation of shift control strategies in the engineering application of HMT devices.
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图 1 HMT的传动原理
p为变量泵；m为定量马达；K1和K2为行星排；C1和C2为离合器；B为制动器.
Figure 1. Transmission principle of HMT
表 1 主要仿真参数
Table 1. Key simulation parameters
参数名称 参数值 整车整备质量/kg 12 500 驱动轮半径/m 0.485 主减速器传动比 9.0 定量马达排量/（mL•r−1） 100 变量泵最大排量/（mL•r−1） 125 离合器润滑油初始温度/℃ 60 离合器初始油膜厚度/m 1 × 10−4 离合器微凸峰曲率半径/m 8.5 × 10−4 离合器摩擦副联合粗糙度/m 8.4 × 10−6 离合器摩擦副当量弹性模量/Pa 2.5 × 107 
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