AMT clutch actuator control method and system based on fuzzy PID

Abstract

The application provides an AMT clutch actuator control method and system based on fuzzy PID, and belongs to the technical field of gear shifting control. A clutch position sensor acquires the clutch position at a sampling time. The position error and the position error increment of the clutch requested position and the current position are calculated. The position error and the error increment are calculated through fuzzy processing to determine the fuzzy relationship of the proportional coefficient, the integral coefficient and the differential coefficient in the PID coefficient corresponding to the position error and the position error increment, and to obtain the correction coefficient and the position error. The output of the PID controller at the k time is adjusted according to the correction coefficient and the position error, and is used as the control amount of the AMT clutch actuator. The application does not need manual calibration of the clutch control parameters, can calculate the PID output according to the error and the error increment of the clutch requested target position and the actual clutch position, realizes the control of the clutch position, realizes the effect of good self-adaptation, and has higher control precision.

Description

Technical Field

[0001] This invention belongs to the field of shift control technology, and in particular relates to a control method and system for an AMT clutch actuator based on fuzzy PID. Background Technology

[0002] During AMT gear shifting, the clutch actuator controls the disengagement and engagement of the clutch, bringing the clutch to the desired position to complete the gear shift.

[0003] Currently, the shifting process in an AMT (Automated Manual Transmission) is executed by a shifting mechanism. For example, CN201710564734.6 discloses an AMT automatic shifting mechanism. This document describes a mechanism that uses a single motor to perform shifting and selection, saving space in the entire transmission. It includes a drive motor and a camshaft. Several gear slot cams are mounted on the camshaft. Each gear slot cam has a recessed groove at its center on its outer ring surface. Each recessed groove has at least one convex recess facing one end of the camshaft. The non-convex portions of these recesses are the neutral position. All the convex recesses have different radial angles relative to the camshaft. The mechanism also includes shift forks, the same number as the gear slot cams. Each shift fork has a convex rod at its input end, which extends into a corresponding recessed groove. All shift forks are arranged in parallel and mounted on the same shift fork shaft. One end of the camshaft is fitted with a rotary input structure.

[0004] Although the document achieves the movement of the clutch to the requested position during the gear shifting process, the clutch actuator uses conventional PID control which requires manual calibration. Furthermore, the clutch position is prone to overshoot or poor following performance, resulting in poor dynamic performance, which affects the accuracy of gear shifting and fails to meet vehicle control requirements. Summary of the Invention

[0005] This invention provides a control method for an AMT clutch actuator based on fuzzy PID, which can achieve accurate control of the clutch position and meet the vehicle driving requirements.

[0006] The methods include:

[0007] S101: Clutch position sensor acquires clutch position at the sampling time ; Calculate the clutch request position Position error from current position and position error increment ;

[0008] S102: Calculate the position error and error increment through fuzzification processing, and determine the proportional coefficient in the PID coefficients. Integral coefficient and differential coefficients Corresponding to position error and position error increment The fuzzy relationship is determined, and the correction coefficient and position error are obtained.

[0009] S103: Based on correction factors and position errors Adjusting the output of the PID controller at time k , which serves as the control quantity for the AMT clutch actuator.

[0010] It should be further noted that step S102 also includes:

[0011] Establish based on fuzzy relations , and Fuzzy rule table: Set position error threshold , and Each threshold satisfies .

[0012] It should be further explained that when When this occurs, it indicates that the position error is greater than the first position error threshold.

[0013] The current position of the clutch is greater than the target position by a distance threshold; the PID controller controls the clutch actuator to move according to the maximum output. = , .

[0014] It should be further explained that when ,and This indicates that the clutch is moving away from the target position, and the position error is greater than the second position error threshold. A suppressive force needs to be applied, and the correction coefficient is defined as follows: , , .

[0015] It should be further explained that if This indicates that the clutch is moving away from the target position, and the position error is less than the first position error threshold. The correction coefficient is defined as follows: , , .

[0016] It should be further explained that when , This indicates that the clutch is moving towards the target position, and the position error is greater than the second position error threshold. The PID coefficients are then adjusted to... , .

[0017] like This indicates that the clutch is moving towards the target position, but the position error is less than the first position error threshold. The PID parameter coefficients are then adjusted to... .

[0018] like This indicates that the current position of the clutch is less than the required distance threshold, and the current position error is within acceptable limits. At this point, the PID coefficient is adjusted to... The output of the PID controller is The PID controller output is turned off, and the clutch actuator is no longer adjusted to control clutch movement.

[0019] It should be further explained that step S103: the output is calculated using the following formula. :

[0020] ;

[0021] In the formula , and These are the correction coefficients for the proportional part, integral part, and derivative part of the PID controller, respectively.

[0022] The present invention also provides an AMT clutch actuator control system based on fuzzy PID, the system comprising: an AMT control strategy unit, a clutch position sensor, a clutch actuator and a fuzzy PID controller;

[0023] The AMT control strategy unit is used to acquire and send a clutch request target position to the fuzzy PID controller;

[0024] The clutch position sensor is used to measure the actual position of the clutch;

[0025] A fuzzy PID controller is used to calculate the PID output by utilizing the error between the clutch's requested target position and the actual position of the clutch, as well as the error increment.

[0026] The clutch actuator is used to control the clutch position based on the current PID output.

[0027] As can be seen from the above technical solutions, the present invention has the following advantages:

[0028] The fuzzy PID-based AMT clutch actuator control method provided by this invention uses a fuzzy PID controller to calculate the current output based on the error value and error increment between the current clutch position and the target position, thereby controlling the clutch actuator to bring the clutch to the requested position. This eliminates the need for manual calibration of clutch control parameters, provides excellent adaptive performance, and offers higher control precision, ensuring stable vehicle operation. Attached Figure Description

[0029] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 The flowchart is shown below for the AMT clutch actuator control method based on fuzzy PID.

[0031] Figure 2 This is a schematic diagram of an AMT clutch actuator control system based on fuzzy PID.

[0032] Figure 3 This is a flowchart of an embodiment of the AMT clutch actuator control method based on fuzzy PID. Detailed Implementation

[0033] This invention provides a control method and system for an AMT clutch actuator based on fuzzy PID. The system includes an AMT control strategy unit, a clutch position sensor, a clutch actuator, and a fuzzy PID controller. Of course, the above-mentioned units and electrical components only involve modules related to the problem to be solved by this invention, and not the detailed number of modules and electrical components in actual implementation. In actual implementation, the function, quantity, and role of each module can be arbitrarily changed, and the function and purpose of the modules may also be more complex.

[0034] The AMT clutch actuator control method and system can acquire and process clutch data based on in-vehicle intelligent technology. The AMT clutch actuator control system incorporates both hardware and software technologies. The hardware includes technologies such as the AMT control strategy unit, clutch position sensor, clutch actuator, fuzzy PID controller, distributed storage, big data processing technology, and operation / interaction system. The CNC machine tool intelligent diagnostic method software technology can be used to write computer program code in one or more programming languages ​​or a combination thereof to perform the operations disclosed herein. These programming languages ​​include, but are not limited to, object-oriented programming languages—such as Java, Smalltalk, and C++—as well as conventional procedural programming languages—such as C or similar programming languages.

[0035] The AMT clutch actuator control system utilizes fuzzy PID control technology. The AMT control strategy unit acquires and sends a clutch target position request to the fuzzy PID controller. The clutch position sensor measures the actual clutch position. The fuzzy PID controller calculates the PID output using the error between the requested target position and the actual clutch position, along with the error increment. The clutch actuator controls the clutch position based on the current PID output. This allows the clutch actuator to achieve rapid and precise control of the clutch position based on the current PID output. This solves the problems of conventional PID control requiring manual calibration, and the tendency for clutch position overshoot or poor tracking, resulting in unsatisfactory dynamic performance.

[0036] The AMT clutch actuator control method and system of this invention can be applied to vehicles, such as commercial vehicles or passenger vehicles. It can calculate the position error and error increment through fuzzy processing, determine the fuzzy relationship between the proportional, integral, and derivative coefficients in the PID controller and the position error and position error increment, obtain the correction coefficient and position error, and adjust the output of the PID controller at time k based on the correction coefficient and position error, thus achieving effective control of the AMT clutch actuator.

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Please see Figures 1 to 3 As shown, the AMT clutch actuator control method based on fuzzy PID includes:

[0039] S101: Clutch position sensor acquires clutch position at the sampling time ; Calculate the clutch request position Position error from current position and position error increment ;

[0040] S102: Calculate the position error and error increment through fuzzification processing, and determine the proportional coefficient in the PID coefficients. Integral coefficient and differential coefficients Corresponding to position error and position error increment The fuzzy relationship is determined, and the correction coefficient and position error are obtained. ;

[0041] The fuzzy rules established in step S102 above are as follows:

[0042] 2.1) To ensure fast and accurate clutch position control, a position error threshold is set. , and Each threshold satisfies .

[0043] 2.2) When When this occurs, it indicates a large position error, meaning the current clutch position is far from the target position. In other words, the position error exceeds a first position error threshold, which can be defined as follows: E1 At this point, reaching the requested position requires a large movement of the clutch. The PID controller then controls the clutch actuator to move according to its maximum output. = , .

[0044] 2.3) When At that time, if This indicates that the clutch is moving away from the target position and the positional error is large, meaning the positional error exceeds the second positional error threshold. Therefore, a stronger suppression effect needs to be applied, with a correction coefficient of [value missing]. , , ;like This indicates that the clutch is moving away from the target position, but the positional error is small, requiring only a weak suppressive effect, with a correction factor of [value missing]. , , .

[0045] 2.4) When At that time, if This indicates that the clutch is moving towards the target position, but the position error is large. To quickly reduce the error, the PID coefficient is adjusted to... , .

[0046] like This indicates that the clutch is moving towards the target position, but the position error is small. It can be adjusted using classic PID parameters. The PID parameter coefficients are adjusted to... .

[0047] 2.5) If This indicates that the current clutch position is very close to the actual requested position, and the current position error is within an acceptable range. At this point, the PID coefficient is adjusted to... The output of the PID controller is The PID controller output is turned off, and the clutch actuator is no longer adjusted to control clutch movement.

[0048] S103: Based on correction factors and position errors Adjusting the output of the PID controller at time k , which serves as the control quantity for the AMT clutch actuator.

[0049] According to the embodiments of this application, the output is... The calculation formula is:

[0050] .

[0051] In the formula , and These are the correction coefficients for the proportional part, integral part, and derivative part of the PID controller, respectively.

[0052] In this way, the above-designed control model is inserted into the AMT control strategy and converted into code, which is then burned into the transmission control unit. The transmission control unit controls the actuators based on the current clutch position and the requested clutch position, causing the clutch to reach the designated position.

[0053] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0054] The fuzzy PID-based AMT clutch actuator control method provided by this invention uses a fuzzy PID controller to calculate the current output based on the error value and error increment between the current clutch position and the target position, thereby controlling the clutch actuator to bring the clutch to the requested position. This eliminates the need for manual calibration of clutch control parameters, provides excellent adaptive performance, and offers higher control precision, ensuring stable vehicle operation.

[0055] The AMT clutch actuator control method provided by this invention comprises the unit and algorithm steps of various examples described in conjunction with the embodiments disclosed herein. These steps can be implemented using electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of function in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0056] Through the above description of the embodiments, those skilled in the art will readily understand that the AMT clutch actuator control method described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution of the disclosed embodiments of the AMT clutch actuator control method can be embodied in the form of a software product. This software product can be stored on a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, and includes several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the indexing method according to the embodiments of this disclosure.

[0057] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for AMT clutch actuator control based on fuzzy PID, characterized in that the method comprises the following steps: include: S101: clutch position sensor acquires clutch position at sampling time ; calculate clutch request position position error from current position and position error delta ; S102: Calculate the position error and error increment by fuzzy processing, determine the proportional coefficient in PID coefficient , integral coefficient and differential coefficient corresponding to the fuzzy relationship of position error and position error increment , and get the correction coefficient and position error ; S103: adjusting the output of the PID controller at time k according to the correction coefficient and the position error adjusting the output of the PID controller at time k according to the correction coefficient and the position error as a control amount of the AMT clutch actuator Step S102 also includes: According to the fuzzy relationship, the fuzzy rule table of , and is established: set the position error threshold , and , each threshold satisfies ;​ When the position error is greater than the first position error threshold. The clutch current position is greater than the distance threshold from the target position; the PID controller controls the clutch actuator to move according to the maximum output, ​​​ when ,and This indicates that the clutch is moving away from the target position, and the position error is greater than the second position error threshold. A suppressive force needs to be applied, and the correction coefficient is defined as follows: , , ; If , then it indicates that the clutch is moving away from the target position, the position error is less than the first position error threshold, and the correction coefficient is defined as , , .

2. The fuzzy PID based AMT clutch actuator control method according to claim 1, wherein, When , , it indicates that the clutch moves towards the target position, the position error is greater than the second position error threshold, and the PID coefficient is adjusted to , .

3. The fuzzy PID based AMT clutch actuator control method according to claim 1, wherein, If , it indicates that the clutch moves in the direction of the target position, but the position error is less than the first position error threshold, and the PID parameter coefficient is adjusted to .

4. The fuzzy PID based AMT clutch actuator control method of claim 1, wherein, If , it indicates that the current position of the clutch is less than the actual request position by a distance threshold, the current position error is in the acceptable range, at this time the PID coefficient is adjusted to , the output of the PID controller is , the output of the PID controller is closed, and the clutch actuator is no longer adjusted to control the movement of the clutch.

5. The fuzzy PID based AMT clutch actuator control method according to claim 1, wherein, Step S103: Calculate the output by the following calculation formula : ； In the formula , and are the PID controller proportional part correction coefficient, integral part correction coefficient and differential part correction coefficient, respectively.

6. A fuzzy PID based AMT clutch actuator control system, characterized in that, The system adopts the AMT clutch actuator control method based on fuzzy PID as described in any one of claims 1 to 5; The system includes: an AMT control strategy unit, a clutch position sensor, a clutch actuator, and a fuzzy PID controller; The AMT control strategy unit is used to acquire and send a clutch request target position to the fuzzy PID controller; The clutch position sensor is used to measure the actual position of the clutch; A fuzzy PID controller is used to calculate the PID output by utilizing the error between the clutch's requested target position and the actual position of the clutch, as well as the error increment. The clutch actuator is used to control the clutch position based on the current PID output. Also includes: Establish based on fuzzy relations , and Fuzzy rule table: Set position error threshold , and Each threshold satisfies ; When the position error is greater than the first position error threshold. The clutch current position is greater than a distance threshold from the target position; the PID controller controls the clutch actuator to move according to the maximum output, ​​​ When , and , it indicates that the clutch moves in the direction away from the target position, and the position error is greater than the second position error threshold, and the restraining force needs to be applied, and the correction coefficient is defined as , , ; If , then it indicates that the clutch is moving away from the target position, the position error is less than the first position error threshold, and the correction coefficient is defined as , , .

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