Automatic Clutch Engagement Control Research Based On Variable Universe Self-adaptive Fuzzy Control And Udwadiakalaba Theory

Automatic transmission is the core part of the vehicle,based on the original manual transmission,automatic mechanical transmission(AMT)with automatic transmission mechanism,has the characteristics of simple structure,high transmission efficiency,low cost and easy industrialization,so AMT products have broad market prospects.As an important module of AMT automatic transmission system,the automatic control system has a direct influence on the performance of AMT transmission system.Compared with the manual transmission control system,the AMT with the automatic clutch can greatly reduce the labor intensity of the driver and improve the driving comfort and safety.The key and difficult point of automatic clutch control lies in the formulation of the clutch engagement rules and the accurate tracking of the clutch position.At present,the research on these two aspects is immature.Through the domestic and foreign AMT automatic clutch combination rule research and trajectory tracking control analysis,by adopting the combination of theoretical analysis and mathematical modeling method,this article has deeply researched on the variable universe adaptive fuzzy control and servo constraint control based on the Udwadia-Kalaba theory,and applied them to the engaging control of AMT automatic clutch.The main research objectives and contents are as follows:1? Arrange a set of theory on variable universe adaptive fuzzy control which is suitable for AMT automatic clutch engaging speed control.Variable universe adaptive fuzzy control keeps the form of control rules unchanged,by adjusting the contraction factor,it can expand or shrink the domain,thus increasing the interpolation points to improve the control precision of the controller.The variable universe method could realize the adaptive regulation,solve the problem that the controller parameters are difficult to set,the method could also simplify the calculation process of the controller,improve the adaptability,stability and robustness of the system,2? Dynamic modeling of the key components of the clutch.Fist,with analysis of the stability conditions of the engine model,and correction of test data on the steady condition,the mathematical model is obtained under the unsteady condition of the engine;Second,according to the nonlinear stress-strain characteristics of diaphragm spring,based on the assumption of A-L,the calculation model under dynamic working condition of diaphragm spring is deduced,and establish a nonlinear model between displacement of the small end and loads of the big end;Third,in order to accurately control the clutch engagement process,the hydraulic control model of the hydraulic actuator are established.3? Variable universe adaptive fuzzy control for AMT auto clutch engagement speed is proposed.Fist,the paper analyzes the clutch engagement process segmentally,and establishes the piecewise dynamic model.Then the clutch engagement control is divided into two layers,the upper layer aims at the control of the clutch engagement speed;the lower layer aims at the control of the clutch position tracking.Last considering the coupling relationship between four input variables in the controller for clutch engagement speed,in order to simplify the decoupling method and the controller structure,two dimensional with four input and single output fuzzy controller is designed,the control method has good robustness on the uncertainty of the system.4? Establish the control model and propose the corresponding control method of AMT automatic clutch position tracking control which is suitable for the Udwadia-Kalaba theory.The accurate tracking of the clutch engagement position is the foundation and precondition of the automatic clutch control,because of the uncertain factors such as nonlinear?time-varying,the servo constraint control based on Udwadia-Kalaba theory is used on the AMT clutch engagement position.Experimental results show that,the Udwadia-Kalaba method proposed in this paper can achieve the accurate tracking of the clutch position,with the smaller steady state error,and improve the control precision of the system.5? The software and hardware of AMT control system are designed respectively aiming at variable universe adaptive fuzzy control for AMT auto clutch engagement speed and Udwadia-Kalaba theory for automatic clutch position tracking control,the test is tried on each gear between upshift and downshift.The results of the shift performance evaluation index and position tracking curve indicate that,the clutch engagement control algorithm proposed in this paper has high control precision under the premise that all the indexes meet the design requirements.