AMT clutch pneumatic control system and method based on double-valve-diameter cooperation

Abstract

The invention discloses an AMT clutch pneumatic control system and method based on double-valve-diameter cooperation, and relates to the technical field of clutches, the AMT clutch pneumatic control system comprises a coarse adjustment pipeline and a fine adjustment pipeline which communicate with an air source pipeline at the same time, the tail end of the coarse adjustment pipeline and the tail end of the fine adjustment pipeline communicate with a CPCA air inlet pipeline, and the CPCA air inlet pipeline communicates with an air inlet of a CPCA; a coarse adjustment three-way two-position valve is mounted on the coarse adjustment pipeline, and a one-way valve is mounted on the coarse adjustment pipeline at the rear end of the coarse adjustment three-way two-position valve; a fine adjustment three-way two-position valve is installed on the fine adjustment pipeline, and the pipe diameter of the valve front fine adjustment pipeline located at the front end of the fine adjustment three-way two-position valve is smaller than the pipe diameters of the valve rear fine adjustment pipeline located at the rear end of the fine adjustment three-way two-position valve and the coarse adjustment pipeline; the coarse adjustment three-way two-position valve, the fine adjustment three-way two-position valve and the CPCA are all electrically connected with a TCU, and the TCU is in communication connection with an upper computer. According to the invention, rapid response and accurate adjustment of the CPCA stroke can be realized, and the requirements of a CPCA bench test are met.

Description

Technical Field

[0001] The present invention relates to the technical field of clutches, and in particular to an AMT clutch pneumatic control system and method based on dual-valve diameter collaboration for CPCA bench testing. Background Art

[0002] The clutch, installed between the engine and transmission, is the component that disconnects and transmits power between the engine and the vehicle's drivetrain. As a crucial component of the vehicle's transmission system, its performance is directly related to vehicle safety and the driving experience. To ensure clutch quality, pre-delivery bench testing is essential. Clutch bench testing simulates various operating conditions encountered in actual use, comprehensively testing the clutch's performance. This test effectively evaluates the clutch's durability, reliability, and shifting performance, providing a crucial basis for clutch design and production.

[0003] CPCA (central pneumatic clutch) is a new type of clutch that has been launched in recent years. Because it is a new type of clutch, the pneumatic control systems previously used for bench testing of other types of clutches are no longer applicable to it. The pneumatic control systems used in complete vehicles also cannot meet the requirements of bench testing. Therefore, there is an urgent need for a pneumatic control system and control method for CPCA bench testing that can achieve rapid response and precise adjustment of CPCA stroke. Summary of the Invention

[0004] In response to the above defects, the purpose of the present invention is to provide an AMT clutch pneumatic control system and method based on dual valve diameter collaboration. This AMT clutch pneumatic control system and method based on dual valve diameter collaboration can achieve rapid response and precise adjustment of CPCA stroke, meeting the requirements of CPCA bench test.

[0005] In order to achieve the above object, the technical solution of the present invention is: A pneumatic control system for an AMT clutch based on dual-valve diameter coordination comprises a coarse adjustment pipeline and a fine adjustment pipeline simultaneously connected to an air source pipeline, the ends of the coarse adjustment pipeline and the fine adjustment pipeline being connected to a CPCA air intake pipeline, the CPCA air intake pipeline being connected to an air inlet of the CPCA; a coarse adjustment three-way two-position valve being installed on the coarse adjustment pipeline, and a one-way valve being installed on the coarse adjustment pipeline at the rear end of the coarse adjustment three-way two-position valve; a fine adjustment three-way two-position valve being installed on the fine adjustment pipeline, the diameter of the pre-valve fine adjustment pipeline at the front end of the fine adjustment three-way two-position valve being smaller than the diameter of the post-valve fine adjustment pipeline and the coarse adjustment pipeline at the rear end of the fine adjustment three-way two-position valve; the coarse adjustment three-way two-position valve, the fine adjustment three-way two-position valve and the CPCA are all electrically connected to a TCU, and the TCU is communicatively connected to a host computer.

[0006] A pressure sensor is installed at the air inlet of the CPCA, and the pressure sensor is electrically connected to the TCU.

[0007] The diameters of the post-valve fine adjustment pipeline, the coarse adjustment pipeline, and the CPCA air intake pipeline are all 10 mm.

[0008] Wherein, the diameter of the pre-valve fine adjustment pipeline is 2 to 5 mm.

[0009] A pneumatic control method for an automatic manual transmission (AMT) clutch based on dual-valve-diameter coordination is implemented based on the above-mentioned pneumatic control system for an AMT clutch based on dual-valve-diameter coordination, comprising the following steps: step S1, opening a coarse adjustment three-way two-position valve so that the inlet and outlet of the coarse adjustment three-way two-position valve are connected to quickly inflate the CPCA; step S2, when the cylinder stroke of the CPCA reaches 80% to 90% of the command stroke, closing the coarse adjustment three-way two-position valve; step S3, opening a fine adjustment three-way two-position valve so that the inlet and outlet of the fine adjustment three-way two-position valve are connected, and a PID control algorithm is used to control the opening and closing of the inlet and outlet of the fine adjustment three-way two-position valve to adjust the airflow to fine-tune the cylinder stroke of the CPCA so that the cylinder stroke remains at the command stroke; step S4, after the test is completed, closing the inlet and outlet of the fine adjustment three-way two-position valve and connecting its outlet to the exhaust port to quickly discharge the gas in the CPCA, quickly release the cylinder pressure, and shorten the cylinder reset time.

[0010] The proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd in the PID control algorithm change with the change of the clutch spring force.

[0011] Among them, the PID control algorithm includes the following steps: step S31, collecting the cylinder stroke x and the cylinder pressure P through the CPCA displacement sensor and the pressure sensor; step S32, calculating the clutch spring force according to the formula Fspring=k*x, where k is the clutch spring stiffness; step S33, calculating the error according to the formula e(t)=Xx, where X is the command stroke; step S34, adjusting the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd according to the change of the clutch spring force; step S35, calculating u(t)=Kp*e(t)+Ki*∫e(t)dt+Kd*de(t) / dt, and adjusting the conduction and closing of the inlet and outlet of the fine-tuning three-way two-position valve according to the u(t) value.

[0012] In step S34, the initial value of the proportional coefficient Kp is set to Kp0=20, the initial value of the integral coefficient Ki is set to Ki0=0, and the initial value of the differential coefficient Kd is set to Kd0=0; if |e(t)|>2mm and ΔFspring>100N / s, the proportional coefficient Kp is increased and the integral coefficient Ki is decreased; if |e(t)|<0.5mm and ΔFspring<50N / s, the proportional coefficient Kp is decreased and the differential coefficient Kd is increased.

[0013] In step S34, the specific calculation formulas of the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd are as follows: Kp=Kp0*(1+α*Fspring / Fmax), where: α is the gain coefficient, which is 0.5~1.0; Fmax is the maximum clutch spring force, which is 12000N; Ki=Ki0*(1-β*ΔFspring / Δt), where: β is the attenuation coefficient, which is 0.2~0.5; ΔFspring is the clutch spring force change rate; Kd=Kd0*(1+γ*ΔFspring / Δt), where: γ is the gain coefficient, which is 0.1~0.3.

[0014] The PID control algorithm is executed every 10 ms.

[0015] After adopting the above technical solution, the beneficial effects of the present invention are: Since the AMT clutch pneumatic control system based on dual-valve diameter coordination of the present invention includes a coarse adjustment pipeline and a fine adjustment pipeline simultaneously connected to the air source pipeline, the ends of the coarse adjustment pipeline and the fine adjustment pipeline are both connected to the CPCA intake pipeline, and the CPCA intake pipeline is connected to the air inlet of the CPCA; a coarse adjustment three-way two-position valve is installed on the coarse adjustment pipeline, and a one-way valve is installed on the coarse adjustment pipeline at the rear end of the coarse adjustment three-way two-position valve; a fine adjustment three-way two-position valve is installed on the fine adjustment pipeline, and the diameter of the valve-front fine adjustment pipeline at the front end of the fine adjustment three-way two-position valve is smaller than the diameter of the valve-post fine adjustment pipeline and the coarse adjustment pipeline at the rear end of the fine adjustment three-way two-position valve; the coarse adjustment three-way two-position valve, the fine adjustment three-way two-position valve and the CPCA are all electrically connected to the TCU, and the TCU is communicatively connected to the host computer. At the beginning of the test, the present invention opens the coarse adjustment three-way two-position valve on the coarse adjustment pipeline to quickly inflate the cylinder of the CPCA. When the cylinder stroke approaches the target stroke, the coarse adjustment three-way two-position valve is closed, and the fine adjustment three-way two-position valve on the fine adjustment pipeline is opened. Since the diameter of the fine adjustment pipeline before the valve is small, the stroke of the cylinder can be fine-tuned, thereby avoiding system oscillation and accurately adjusting the stroke of the cylinder so that the cylinder stroke can be quickly and stably maintained at the command stroke; at the same time, the diameter of the fine adjustment pipeline after the valve is large, and after the bench test is completed, the gas in the cylinder can be quickly discharged, the pressure in the cylinder can be quickly released, and the reset time of the CPCA can be shortened. Therefore, the AMT clutch pneumatic control system based on the dual-valve diameter collaboration of the present invention can achieve rapid response and precise adjustment of the CPCA stroke, meeting the requirements of the CPCA bench test.

[0016] Since the AMT clutch pneumatic control method based on dual-valve diameter collaboration of the present invention is implemented based on the above-mentioned AMT clutch pneumatic control system based on dual-valve diameter collaboration, and the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd in the PID control algorithm of the AMT clutch pneumatic control method based on dual-valve diameter collaboration of the present invention change with the change of the clutch spring force, and are dynamic parameters, the PID control algorithm is used to control the conduction and closing of the fine-tuning three-way two-position valve, thereby accurately controlling the intake volume of the CPCA, thereby further improving the system's rapid response to the cylinder stroke of the CPCA, with higher adjustment accuracy, and able to meet various working conditions requirements of the CPCA bench test.

[0017] To sum up, the AMT clutch pneumatic control system and method based on dual-valve diameter collaboration of the present invention solve the technical problem of the lack of CPCA bench test technology in the prior art. The AMT clutch pneumatic control system and method based on dual-valve diameter collaboration of the present invention can achieve rapid response and precise adjustment of CPCA stroke, meeting the requirements of CPCA bench test. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the pneumatic control system of the AMT clutch based on dual valve diameter coordination of the present invention; In the figure: 10, host computer, 20, TCU, 30, CPCA, 40, pressure sensor, 50, fine-adjustment three-way two-position valve, 52, coarse-adjustment three-way two-position valve, 54, one-way valve, 60, air source pipeline, 62, coarse-adjustment pipeline, 64, fine-adjustment pipeline before the valve, 66, fine-adjustment pipeline after the valve, 68, CPCA air inlet pipeline. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and examples.

[0020] The directions mentioned in this specification are based on the directions shown in the drawings and only represent relative positions, not absolute positions.

[0021] Example 1:

[0022] like Figure 1 Figure 1 shows an AMT clutch pneumatic control system based on dual-valve-diameter coordination, including a coarse adjustment line 62 and a fine adjustment line, both connected to an air source line 60. The ends of both the coarse adjustment line 62 and the fine adjustment line are connected to a CPCA inlet line 68, which is in turn connected to the air inlet of the CPCA 30. A coarse adjustment three-way, two-position valve 52 is installed on the coarse adjustment line 62. A check valve 54 is installed on the coarse adjustment line 62 at the rear end of the coarse adjustment three-way, two-position valve 52. Check valve 54 prevents backflow of gas after the coarse adjustment three-way, two-position valve 52 is closed. A fine-tuning three-way two-position valve 50 is installed on the fine-tuning pipeline, which divides the fine-tuning pipeline into two sections. This manual defines the direction of the gas source as front, so the fine-tuning pipeline located at the front end of the fine-tuning three-way two-position valve 50 is the pre-valve fine-tuning pipeline 64, and the fine-tuning pipeline located at the rear end of the fine-tuning three-way two-position valve 50 is the post-valve fine-tuning pipeline 66. In this embodiment, the diameter of the pre-valve fine-tuning pipeline 64 is smaller than the diameters of the post-valve fine-tuning pipeline 66 and the coarse-tuning pipeline 62. The AMT clutch pneumatic control system based on dual-valve diameter coordination of the present invention also includes a TCU20 and a host computer 10, where the TCU is an automatic transmission control unit. The coarse adjustment three-way two-position valve 52, the fine adjustment three-way two-position valve 50 and the CPCA30 are all electrically connected to the TCU20, and the TCU20 is communicatively connected to the host computer 10. The cylinder stroke data signal of the CPCA30 collected by the displacement sensor (not shown in the figure) of the CPCA30 is uploaded to the host computer 10 through the TCU20. The host computer 10 transmits the command signal for controlling the opening and closing of the coarse adjustment three-way two-position valve 52 and the fine adjustment three-way two-position valve 50 to the coarse adjustment three-way two-position valve 52 and the fine adjustment three-way two-position valve 50 through the TCU20.

[0023] like Figure 1As shown, a pressure sensor 40 is installed at the air inlet of CPCA 30. Pressure sensor 40 is mounted on a tooling plate (not shown) located at the air inlet of CPCA 30 and is used to collect the gas pressure within the cylinder of CPCA 30. Pressure sensor 40 is electrically connected to TCU 20, and the collected pressure data signal is transmitted to host computer 10 via TCU 20. In this embodiment, the displacement sensor included in CPCA 30 serves as the primary sensor, and pressure sensor 40 serves as the auxiliary sensor. The cylinder stroke data corresponds to the gas pressure data within the cylinder, and the two can serve as a mutual verification. If the stroke data uploaded by the displacement sensor differs significantly from the pressure data, it indicates that the displacement sensor is damaged or the signal is lost. In this case, the control system switches to pressure sensor 40 as the primary sensor and infers the cylinder stroke data based on the pressure data uploaded by pressure sensor 40 to maintain normal gear shifting and ensure the normal progress of the test. When the cylinder position remains unchanged, the clutch spring force Fspring = the aerodynamic force Fair. According to the formulas Fspring = k*x and Fair = P*A, the cylinder stroke data can be inferred from the pressure data.

[0024] like Figure 1 As shown, in this embodiment, the diameters of the post-valve fine-adjustment line 66, the coarse-adjustment line 62, and the CPCA inlet line 68 are preferably all 10 mm, and the corresponding coarse-adjustment three-way, two-position valve 52 is DN10. The diameter of the pre-valve fine-adjustment line 64 is 2-5 mm, and more preferably, the diameter of the pre-valve fine-adjustment line 64 is 4 mm, and the corresponding fine-adjustment three-way, two-position valve 50 is DN4. The large diameter of the coarse-adjustment line 62 allows for a high gas flow rate, allowing for rapid inflation of the CPCA 30 at the start of the test, quickly bringing the cylinder stroke closer to the commanded stroke and shortening the test time. The small diameter of the pre-valve fine-adjustment line 64 allows for fine-tuning of the cylinder stroke, improving system response speed, preventing the impact of high flow on the cylinder, and preventing system oscillation, allowing the system to quickly stabilize. The diameter of the post-valve fine-tuning pipeline 66 is large, so when the test is completed and the fine-tuning three-way two-position valve 50 is switched to exhaust, the gas in the cylinder can be quickly discharged, the cylinder pressure can be quickly released, and the reset time can be shortened to make the target response less than 150ms.

[0025] Example 2:

[0026] An AMT clutch pneumatic control method based on dual valve diameter coordination based on the AMT clutch pneumatic control system based on dual valve diameter coordination described in Example 1 includes the following steps: Step S1: Open the coarse adjustment three-way two-position valve 52 so that the inlet P and outlet A of the coarse adjustment three-way two-position valve 52 are connected to quickly inflate the CPCA 30; Step S2: When the cylinder stroke of CPCA 30 reaches 80% to 90% of the command stroke, close the coarse adjustment three-way two-position valve 52; Step S3: Open the fine adjustment three-way two-position valve 50 to connect the inlet P and the outlet A of the fine adjustment three-way two-position valve 50. The PID control algorithm is used to control the opening and closing of the inlet P and the outlet A of the fine adjustment three-way two-position valve 50, and the air flow is adjusted to fine-tune the cylinder stroke of the CPCA 30 so that the cylinder stroke remains at the command stroke. Step S4: After the test is completed, close the inlet P and outlet A of the fine adjustment three-way two-position valve 50, connect its outlet A and the exhaust port R, and quickly discharge the gas in the CPCA 30, quickly release the cylinder pressure, and shorten the cylinder reset time.

[0027] In this embodiment, the PID control algorithm in step S3 is executed every 10 ms and includes the following steps: Step S31: collecting the cylinder stroke x and the cylinder pressure P through the displacement sensor of CPCA 30 and the pressure sensor 40; Step S32: Calculate the clutch spring force according to the formula Fspring=k*x, where k is the clutch spring angle; calculate the aerodynamic force according to the formula Fair=P*A, where A is the effective area of ​​the cylinder piston. The cylinder piston of CPCA30 needs to overcome the clutch spring force Fspring when it moves, that is, Fair>Fspring when the cylinder piston moves. Step S33, calculating the error according to the formula e(t)=Xx, where X is the command stroke, and the command stroke setting value is 0-40 mm; Step S34, adjusting the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd according to the change of the clutch spring force; Step S35 , calculate u(t)=Kp*e(t)+Ki*∫e(t)dt+Kd*de(t) / dt, and adjust the conduction and closing of the inlet P and the outlet A of the fine-tuning three-way two-position valve 50 according to the u(t) value.

[0028] In step S34, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd in the PID control algorithm are changed as the clutch spring force changes.

[0029] Set the initial value of the proportional coefficient Kp to Kp0=20, Set the initial value of the integral coefficient Ki to Ki0=0, Set the initial value of the differential coefficient Kd to Kd0=0, If |e(t)|>2mm, and ΔFspring>100N / s, increase the proportional coefficient Kp and decrease the integral coefficient Ki; If |e(t)|﹤0.5mm and ΔFspring﹤50N / s, reduce the proportional coefficient Kp and increase the differential coefficient Kd.

[0030] The specific adjustment logic of the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd is as follows: Proportional coefficient Kp: When the clutch spring force increases, increase Kp to enhance the response speed. Kp=Kp0*(1+α*Fspring / Fmax), Where: α is the gain coefficient, ranging from 0.5 to 1.0, and further taken as 0.5; Fmax is the maximum clutch spring force, which is 12000N.

[0031] Integral coefficient Ki: When the clutch spring force changes drastically, reduce Ki to suppress the accumulation of integrals. Ki=Ki0*(1-β*ΔFspring / Δt), Where: β is the attenuation coefficient, ranging from 0.2 to 0.5, and further ranging from 0.2; ΔFspring is the clutch spring force change rate.

[0032] Differential coefficient Kd: Increase Kd when the clutch spring force changes rapidly to enhance the damping effect. Kd=Kd0*(1+γ*ΔFspring / Δt), Wherein: γ is the gain coefficient, which ranges from 0.1 to 0.3, and further ranges from 0.1.

[0033] The AMT clutch pneumatic control system and method based on dual-valve diameter coordination of the present invention achieves rapid response and precise adjustment of the CPCA stroke by setting coarse adjustment pipelines and fine adjustment pipelines with different diameters to inflate the CPCA, and sets the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd in the PID control algorithm to dynamic values ​​that change with the change of the clutch spring force, thereby meeting the requirements of the CPCA bench test.

[0034] The present invention is not limited to the above-mentioned specific implementation methods. Various changes made by ordinary technicians in this field based on the above-mentioned concept without creative work are all within the scope of protection of the present invention.

Claims

1. The AMT clutch pneumatic control system based on dual valve diameter coordination is characterized by: The invention comprises a coarse adjustment pipeline (62) and a fine adjustment pipeline both connected to the gas source pipeline (60), the ends of the coarse adjustment pipeline (62) and the fine adjustment pipeline are both connected to the CPCA air inlet pipeline (68), and the CPCA air inlet pipeline (68) is connected to the air inlet of the CPCA (30); a coarse adjustment three-way two-position valve (52) is installed on the coarse adjustment pipeline (62), and a one-way valve (54) is installed on the coarse adjustment pipeline (62) at the rear end of the coarse adjustment three-way two-position valve (52); the fine adjustment pipeline (62) is connected to the CPCA air inlet pipeline (68) and the CPCA air inlet pipeline (68) is connected to the air inlet of the CPCA (30); A fine adjustment three-way two-position valve (50) is installed on the adjustment pipeline. The diameter of the valve front fine adjustment pipeline (64) located at the front end of the fine adjustment three-way two-position valve (50) is smaller than the diameters of the valve rear fine adjustment pipeline (66) and the coarse adjustment pipeline (62) located at the rear end of the fine adjustment three-way two-position valve (50). The coarse adjustment three-way two-position valve (52), the fine adjustment three-way two-position valve (50) and the CPCA (30) are all electrically connected to a TCU (20), and the TCU (20) is communicatively connected to a host computer (10).

2. The AMT clutch pneumatic control system based on dual valve diameter coordination according to claim 1 is characterized in that: A pressure sensor (40) is installed at the air inlet of the CPCA (30), and the pressure sensor (40) is electrically connected to the TCU (20).

3. The AMT clutch pneumatic control system based on dual valve diameter coordination according to claim 2, characterized in that: The diameters of the post-valve fine adjustment pipeline (66), the coarse adjustment pipeline (62), and the CPCA air inlet pipeline (68) are all 10 mm.

4. The AMT clutch pneumatic control system based on dual valve diameter coordination according to claim 3, characterized in that: The diameter of the pre-valve fine adjustment pipeline (64) is 2 to 5 mm.

5. The pneumatic control method of the AMT clutch based on dual valve diameter coordination is characterized in that: The AMT clutch pneumatic control system based on dual valve diameter coordination according to any one of claims 2 to 4 is implemented, comprising the following steps: Step S1, opening the coarse adjustment three-way two-position valve (52) so that the inlet and outlet of the coarse adjustment three-way two-position valve (52) are connected, and the CPCA (30) is quickly inflated; Step S2: When the cylinder stroke of the CPCA (30) reaches 80% to 90% of the command stroke, the coarse adjustment three-way two-position valve (52) is closed; Step S3, opening the fine adjustment three-way two-position valve (50) so that the inlet and outlet of the fine adjustment three-way two-position valve (50) are connected, and the opening and closing of the inlet and outlet of the fine adjustment three-way two-position valve (50) are controlled by a PID control algorithm, and the air flow is adjusted to fine-tune the cylinder stroke of the CPCA (30) so that the cylinder stroke is maintained at the command stroke; Step S4: After the test is completed, the inlet and outlet of the fine adjustment three-way two-position valve (50) are closed, and its outlet and the exhaust port are connected to quickly discharge the gas in the CPCA (30), quickly release the cylinder pressure, and shorten the cylinder reset time.

6. The pneumatic control method for an AMT clutch based on dual valve diameter coordination according to claim 5, characterized in that: The proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd in the PID control algorithm change with the change of the clutch spring force.

7. The pneumatic control method for an AMT clutch based on dual valve diameter coordination according to claim 6, characterized in that: The PID control algorithm includes the following steps: Step S31, collecting the cylinder stroke x and the cylinder pressure P through the displacement sensor of the CPCA (30) and the pressure sensor (40); Step S32: Calculate the clutch spring force according to the formula Fspring=k*x, where k is the clutch spring stiffness; Step S33, calculating the error according to the formula e(t)=Xx, where X is the command stroke; Step S34, adjusting the proportional coefficient Kp, the integral coefficient Ki, and the differential coefficient Kd according to the change of the clutch spring force; Step S35, calculate u(t)=Kp*e(t)+Ki*∫e(t)dt+Kd*de(t) / dt, and adjust the conduction and closing of the inlet and outlet of the fine-tuning three-way two-position valve (50) according to the u(t) value.

8. The pneumatic control method for an AMT clutch based on dual valve diameter coordination according to claim 7, characterized in that: In step S34, the initial value of the proportional coefficient Kp is set to Kp0=20, the initial value of the integral coefficient Ki is set to Ki0=0, and the initial value of the differential coefficient Kd is set to Kd0=0; if |e(t)|>2mm and ΔFspring>100N / s, the proportional coefficient Kp is increased and the integral coefficient Ki is decreased; if |e(t)|<0.5mm and ΔFspring<50N / s, the proportional coefficient Kp is decreased and the differential coefficient Kd is increased.

9. The pneumatic control method for an AMT clutch based on dual valve diameter coordination according to claim 8, characterized in that: In step S34, the specific calculation formulas of the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd are as follows: Kp=Kp0*(1+α*Fspring / Fmax), Where: α is the gain coefficient, which ranges from 0.5 to 1.0; Fmax is the maximum clutch spring force, which ranges from 12000N; Ki=Ki0*(1-β*ΔFspring / Δt), Where: β is the attenuation coefficient, ranging from 0.2 to 0.5; ΔFspring is the clutch spring force change rate; Kd=Kd0*(1+γ*ΔFspring / Δt), Where: γ is the gain coefficient, ranging from 0.1 to 0.

3.

10. The pneumatic control method for an AMT clutch based on dual valve diameter coordination according to claim 7, characterized in that: The PID control algorithm is executed every 10 ms.

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