Research On AMT Coordinated Control And Hardware-in-the-loop Simulation

With the increasingly complex of electronic control system,the traditional serial mode development process is no longer suitable for developing modern automotive electronic control systen,due to its time consuming and laborious disadvantages.The developed control strategy and algorithm can be fully verified through the hardware in the loop simulation technology.Hence,the quality of product can be impoved as well as the product development cycle can be shorten through the hardware in the loop simulation technology applied on the process of TCU development.Therefore,it is of practical significance to apply the hardware in the loop simulation technology on automated manual transmission(AMT)development process.According to the characteristics of AMT non-power shift,this paper has developed the hierarchical coordination control strategy of the gear shift process and the position control algorithm of the clutch and the gear shifting actuator.A hardware in the loop simulation test bench was built based on the gearbox and the gear shifting actuator.The main work of this paper is as follows:(1)The physical model of the AMT transmission system,which include the driver model,the engine MAP model,the clutch torque transmission model,the transmission physical model and the vehicle longitudinal dynamic model,is built based on the Matlab/Simulink/Simdriveline toolbox.(2)According to the work principle of AMT,the gear shifting process can be divided into clutch separation,gearshift and clutch engagement.The mathematic model of each stage for AMT during this three operating phases is established.Based on it,the formation mechanism of gear shifting impact at different stages was analyzed.The hierarchical coordination control strategy of the gear shifting process,in which the upper layer is used to calculate the gearshift time,the middle layer is used to determine the shift timing,and the bottom layer is used to control the shifting actuators action,was developed.(3)Based on the theories of linear quadratic regulator and linear matrix inequality approach,a discrete optimal preview position control algorithm is proposed and is applied to the electronic throttle and the gear shifting actuators of electrical AMT.To keep the augmented error system in a simple form,the state transformation method instead of the traditional difference method is utilized.The bench test of electronic throttle and gear shifting actuators is constructed to verify the proposed control scheme in hardware in the loop simulation environment.(4)Finally,the real-time simulation scheme of RTWin Target and xPC Target based on Matlab/RTW environment is introduced.The EZ-Link real-time simulation platform based on RTWin Target environment is used to build the AMT semi-physical simulation model,and the simulation experiment is carried out on the start,acceleration and braking conditions of the automobile.