摘要
针对手动档动力传动系统在装车前的台架试验测试中,人工操控离合器及切换档位带来的测试效率低,无法准确测得选、换档操纵力,测试结果不具备客观性等问题,设计了一种离合、换档自动操纵机构,并提出了一种操纵机构学习控制策略。通过对手动档动力传动系统操纵机构结构分析,设计了一种包括3个独立操纵自由度的自动操纵机构。通过引入电动机驱动电流与机构输出力的数学模型,对输出力进行检测,并提出基于位置的阻抗控制策略,实现电动缸力/位移的柔顺控制,进而避免测试产品机械损伤。同时,提出一种基于知识数据库的自动换档操纵控制,实现档位自动化控制。实际测试结果表明,该自动操纵机构及控制策略具有可实现性,可以在实际中应用。
In the bench experimental test of the manual transmission drivetrain before loading,the manual control of the clutch and the shifting of gears brought about the low testing efficiency,inability to accurately measure the selection and shift control force,and the not objective test results,etc.An automatic control mechanism for the clutch and the shifting was designed,and a learning control strategy for the control mechanism was proposed.By analyzing the structure of the control mechanism of the manual transmission drivetrain,an automatic control mechanism with three independent control degrees of freedom was designed.By introducing the mathematical model of the motor drive current and the output force of the mechanism,the output force was detected,and a position-based impedance control strategy was proposed to realize the compliant control of the electric cylinder force/displacement,thereby avoided the mechanical damage of the test product.At the same time,an automatic shift control based on knowledge database was proposed to realize automatic control of gears.The actual test results showed that the automatic control mechanism and control strategy were achievable and could be applied in practice.
作者
吴亚渝
郑建
孟勇
符亭
赵江波
罗小
WU Yayu;ZHENG Jian;MENG Yong;FU Ting;ZHAO Jiangbo;LUO Xiao(Chongqing Tiema Industry Group Co.,Ltd.,Chongqing 400050,China)
出处
《新技术新工艺》
2022年第10期33-37,共5页
New Technology & New Process
