| The dual-mode coupled drive system realizes the integrated integration of the centralized drive mode and the distributed drive mode.It can switch modes and two-speed automatic transmission at the same time,thereby greatly improving the driving efficiency and dynamic control capabilities of electric vehicles,which has a good application prospect.Because the system uses a mechanical automatic shifting mode,there are obvious power interruption and jerk problems during mode switching.The failure of the sensor of the actuator will also greatly increase the difficulty of variable-mode shifting control.This paper focuses on the theoretical and experimental research on the above-mentioned problems involved in the dual-mode coupled drive system,in order to achieve a smooth switching of the drive mode and improve the system reliability of sensor failure conditions.The main research contents of this article are as follows:(1)By analyzing the working mechanism of the mode switching of the dual-mode coupled drive system,the analysis of the dynamic characteristics of the mode switching process is achieved.The phase division of the mode switching process is completed and the mathematical model of each stage is established.The difference between the shifting process of the clutchless drive system and the traditional AMT shifting process was revealed,and the relationship between the shifting speed and the jerk was determined.(2)According to the particularity of each stage of the normal operating mode switching process,different control variables are selected,the position controller and speed controller are designed using the sliding mode control algorithm,and the force controller is designed according to the characteristics of the synchronization stage.According to the mechanical characteristics of the system and the mechanical characteristics of each stage,the switching conditions of the control methods in each stage are determined,and the design and control verification of the multi-variable combined controller in stages are completed.(3)In view of the possible sensor fault conditions,considering the important influence of sensor information collection on the mode switching control effect,an adaptive fault redundancy filter based on Kalman filtering and fuzzy logic was designed to realize fault recognition of the position sensor and sleeve displacement.On this basis,the simulation of common sensor failures is used to simulate the observation effect and verify the actual vehicle test,and the mode switching control after sensor failure is realized.(4)Developed a dual-mode coupled drive system function prototype and equipped with a prototype vehicle test platform,based on the rapid prototyping system to complete the construction of the control platform.Separately,the multi-variable combined control method is used to verify the actual vehicle and the adaptive fault redundancy filter to verify the sensor fault recognition effect.The results show that the proposed adaptive mode switching control method can ensure the smooth control of the dual-mode coupled drive system and the mode switching capability after the sensor fails.The research carried out in this paper has important theoretical and practical significance for solving the key technical problems of mode switching in a dual-mode coupled drive system.The proposed multi-variable combined control method and the designed adaptive fault redundant filter are also applicable to other types AMT has broad application prospects. |
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