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

Abstract

The application discloses a kind of based on the AMT clutch pneumatic control system and method of double valve diameter cooperation, it is related to clutch technical field, including simultaneously with gas supply pipeline intercommunication coarse adjustment pipeline and fine adjustment pipeline, the end of coarse adjustment pipeline and fine adjustment pipeline are all connected CPCA intake pipeline, CPCA intake pipeline is connected with the intake of CPCA intercommunication;Coarse adjustment pipeline is installed with coarse adjustment three-way two-position valve, one-way valve is installed on the coarse adjustment pipeline located in the rear end of coarse adjustment three-way two-position valve;Fine adjustment pipeline is installed with fine adjustment three-way two-position valve, the pipe diameter of valve front fine adjustment pipeline located in the front end of fine adjustment three-way two-position valve is less than the pipe diameter of valve rear fine adjustment pipeline and coarse adjustment pipeline located in the rear end of fine adjustment three-way two-position valve;Coarse adjustment three-way two-position valve, fine adjustment three-way two-position valve and CPCA are electrically connected TCU, TCU is connected with host computer communication.This application can realize the quick response and accurate regulation of CPCA stroke, meet the requirement of CPCA test stand.

Description

TECHNICAL FIELD

[0001] The present application relates to the clutch technical field, especially relates to a kind of AMT clutch pneumatic control system and method based on double valve diameter cooperation for CPCA bench test. BACKGROUND

[0002] Clutch is installed between engine and transmission, is the component of engine and automobile drive train cut off and transmit power, as an important part of automobile drive system, its performance is directly related to the safety and driving experience of vehicle. To ensure the quality of clutch, the bench test before the factory of clutch becomes an indispensable link. Clutch bench test is through simulating various working conditions of clutch in actual use, carries out comprehensive performance test, this test can effectively evaluate the durability, reliability and shift performance of clutch, to provide important basis for the design and production of clutch.

[0003] CPCA (central pneumatic clutch) is a kind of clutch that has been on the market in recent years, because it is a new type of clutch, so the pneumatic control system of other models of clutch before bench test is no longer applicable to it, and the pneumatic control system matched with it applied in vehicle cannot meet the requirements of bench test, therefore, a kind of CPCA bench test pneumatic control system and control method capable of realizing the rapid response and accurate regulation of CPCA stroke is urgently needed. SUMMARY

[0004] In view of the above defects, the purpose of the present application is to provide a kind of AMT clutch pneumatic control system and method based on double valve diameter cooperation, this AMT clutch pneumatic control system and method based on double valve diameter cooperation can realize the rapid response and accurate regulation of CPCA stroke, meet the requirements of CPCA bench test.

[0005] In order to achieve the above purpose, the technical scheme of the present application is:

[0006] An AMT clutch pneumatic control system based on double valve diameter cooperation, comprising coarse adjustment pipeline and fine adjustment pipeline connected with gas source pipeline simultaneously, the end of the coarse adjustment pipeline and the fine adjustment pipeline are connected with CPCA inlet pipeline, the CPCA inlet pipeline is connected with the inlet of CPCA;Coarse adjustment three-way two-position valve is installed on the coarse adjustment pipeline, one-way valve is installed on the coarse adjustment pipeline at the rear end of the coarse adjustment three-way two-position valve;Fine adjustment three-way two-position valve is installed on the fine adjustment pipeline, the pipe diameter of valve front fine adjustment pipeline located at the front end of the fine adjustment three-way two-position valve is smaller than the pipe diameter of 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 electrically connected with TCU, and the TCU is connected with host computer in communication.

[0007] The CPCA is provided with a pressure sensor at an air inlet, and the pressure sensor is electrically connected to the TCU.

[0008] The diameters of the post-valve fine adjustment pipeline, the coarse adjustment pipeline and the CPCA air inlet pipeline are all 10 mm.

[0009] The diameter of the pre-valve fine adjustment pipeline is 2-5 mm.

[0010] A kind of AMT clutch pneumatic control method based on double valve diameter cooperation, based on the AMT clutch pneumatic control system based on double valve diameter cooperation described above is realized, including the following steps: step S1, open coarse adjustment three-way two-position valve, so that the inlet and outlet of the coarse adjustment three-way two-position valve are communicated, and the CPCA is quickly aerated;Step S2, when the cylinder stroke of the CPCA reaches 80%-90% of the command stroke, the coarse adjustment three-way two-position valve is closed;Step S3, open fine adjustment three-way two-position valve, so that the inlet and outlet of the fine adjustment three-way two-position valve are communicated, the inlet and outlet of the fine adjustment three-way two-position valve are controlled by PID control algorithm to be communicated and closed, the gas flow is adjusted to finely adjust the cylinder stroke of the CPCA, so that the cylinder stroke is kept at the command stroke;Step S4, after test, the inlet and outlet of the fine adjustment three-way two-position valve are closed, the outlet and exhaust port are communicated, the gas in the CPCA is quickly discharged, the cylinder pressure is quickly released, and the cylinder reset time is shortened.

[0011] In the PID control algorithm, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd change with the change of clutch spring force.

[0012] The PID control algorithm includes the following steps: step S31, the cylinder stroke x and the cylinder pressure P are collected by the displacement sensor and the pressure sensor of the CPCA;Step S32, the clutch spring force is calculated according to the formula Fspring=k*x, wherein k is the clutch spring stiffness;Step S33, the error is calculated according to the formula e (t) =X-x, wherein X is the command stroke;Step S34, the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd are adjusted 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, according to the value of u (t) Adjust the inlet and outlet of the fine adjustment three-way two-position valve to be communicated and closed.

[0013] In the step S34, the initial value of the proportional coefficient Kp is set as Kp0=20, the initial value of the integral coefficient Ki is set as Ki0=0, and the initial value of the differential coefficient Kd is set as 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.

[0014] In the step S34, the specific calculation formula of the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd is as follows: Kp=Kp0*(1+α*Fspring / Fmax), wherein: α is a gain coefficient, and the value is 0.5-1.0; Fmax is the maximum clutch spring force, and the value is 12000N; Ki=Ki0*(1-β*ΔFspring / Δt), wherein: β is an attenuation coefficient, and the value is 0.2-0.5; ΔFspring is the clutch spring force change rate; Kd=Kd0*(1+γ*ΔFspring / Δt), wherein: γ is a gain coefficient, and the value is 0.1-0.3.

[0015] The PID control algorithm is executed every 10ms.

[0016] After the above technical scheme is adopted, the application has the following beneficial effects:

[0017] The AMT clutch pneumatic control system based on the double-valve-diameter cooperation of the application comprises a coarse adjustment pipeline and a fine adjustment pipeline which are simultaneously connected with a gas source pipeline, the end of the coarse adjustment pipeline and the end of the fine adjustment pipeline are connected with a CPCA air inlet pipeline, the CPCA air inlet pipeline is connected with an air inlet of the CPCA, a coarse adjustment three-way two-position valve is installed on the coarse adjustment pipeline, a check 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, the pipe 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 pipe diameter of the valve rear fine adjustment pipeline at the rear end of the fine adjustment three-way two-position valve and the pipe diameter of the coarse adjustment pipeline, the coarse adjustment three-way two-position valve, the fine adjustment three-way two-position valve and the CPCA are electrically connected with a TCU, and the TCU is in communication connection with a host computer. The coarse adjustment three-way two-position valve on the coarse adjustment pipeline is opened at the beginning of the test, the air cylinder of the CPCA is rapidly inflated, the coarse adjustment three-way two-position valve is closed when the cylinder stroke approaches the target stroke, the fine adjustment three-way two-position valve on the fine adjustment pipeline is opened, the cylinder stroke can be finely adjusted due to the small pipe diameter of the valve front fine adjustment pipeline, thereby avoiding the oscillation of the system, the cylinder stroke can be accurately adjusted, and the cylinder stroke can be quickly and stably maintained at the command stroke; meanwhile, the pipe diameter of the valve rear fine adjustment pipeline is large, the gas in the cylinder can be rapidly discharged after the bench test is completed, the pressure in the cylinder can be rapidly released, the CPCA reset time is shortened, and therefore the AMT clutch pneumatic control system based on the double-valve-diameter cooperation of the application can realize the rapid response and accurate adjustment of the CPCA stroke, and meets the requirements of the CPCA bench test.

[0018] The AMT clutch pneumatic control method based on the double-valve-diameter cooperation of the application is realized based on the above-mentioned AMT clutch pneumatic control system based on the double-valve-diameter cooperation, and the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd in the PID control algorithm in the AMT clutch pneumatic control method based on the double-valve-diameter cooperation of the application change with the change of the clutch spring force, are dynamic parameters, the PID control algorithm is used to control the conduction and the closing of the fine adjustment three-way two-position valve, thereby accurately controlling the air inlet amount of the CPCA, and therefore the system can further improve the rapid response of the cylinder stroke of the CPCA, the adjustment accuracy is higher, and various working condition requirements of the CPCA bench test can be met.

[0019] In summary, the AMT clutch pneumatic control system and method based on the double-valve-diameter cooperation of the application solve the technical problems of the lack of the CPCA bench test technology in the prior art, and can realize the rapid response and accurate adjustment of the CPCA stroke, and meet the requirements of the CPCA bench test. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structural schematic view of the AMT clutch pneumatic control system based on the double-valve-diameter cooperation of the application.

[0021] In the diagram: 10, Host computer; 20, TCU; 30, CPCA; 40, Pressure sensor; 50, Fine-tuning three-way two-position valve; 52, Coarse-tuning three-way two-position valve; 54, Check valve; 60, Air source pipeline; 62, Coarse-tuning pipeline; 64, Pre-valve fine-tuning pipeline; 66, Post-valve fine-tuning pipeline; 68, CPCA air inlet pipeline. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] The directions mentioned in this manual are based on the directions shown in the attached diagram and represent only relative positional relationships, not absolute positional relationships.

[0024] Example 1:

[0025] like Figure 1 As shown, an AMT clutch pneumatic control system based on dual-valve-diameter coordination includes a coarse adjustment line 62 and a fine adjustment line, both connected to the air source line 60. The ends of both the coarse adjustment line 62 and the fine adjustment line are connected to the CPCA inlet line 68, which 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 line 62. A one-way valve 54 is installed on the coarse adjustment line 62 downstream of the three-way two-position valve 52 to prevent backflow of gas after the three-way two-position valve 52 is closed. A fine-tuning three-way two-position valve 50 is installed on the fine-tuning pipeline. The fine-tuning three-way two-position valve 50 divides the fine-tuning pipeline into two sections. In this specification, the direction of the gas source is defined as forward. Therefore, the fine-tuning pipeline located in front of the fine-tuning three-way two-position valve 50 is the pre-valve fine-tuning pipeline 64, and the fine-tuning pipeline located behind 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 diameter of the post-valve fine-tuning pipeline 66 and the coarse-tuning pipeline 62. The present invention, based on the dual-valve-diameter coordinated AMT clutch pneumatic control system, also includes a TCU20 and a host computer 10. Here, the TCU is the automatic transmission control unit. The coarse adjustment three-way two-position valve 52, the fine adjustment three-way two-position valve 50 and CPCA30 are all electrically connected to the TCU20. The TCU20 is communicatively connected to the host computer 10. The displacement sensor (not shown in the figure) of the CPCA30 collects the cylinder stroke data signal of the CPCA30 and uploads it to the host computer 10 through the TCU20. The host computer 10 sends the command signal to control the opening and closing of the coarse adjustment three-way two-position valve 52 and the fine adjustment three-way two-position valve 50 through the TCU20.

[0026] like Figure 1As shown, a pressure sensor 40 is installed at the air inlet of the CPCA 30, which is installed on a tooling plate (not shown in the figure) located at the air inlet of the CPCA 30, for collecting the gas pressure in the cylinder of the CPCA 30, and the pressure sensor 40 is electrically connected to the TCU 20, and the collected pressure data signal is uploaded to the upper computer 10 through the TCU 20. In this embodiment, the displacement sensor provided by the CPCA 30 is the main sensor, and the pressure sensor 40 is the auxiliary sensor. The stroke data of the cylinder and the gas pressure data in the cylinder correspond to each other, and they can check each other. When the stroke data uploaded by the displacement sensor and the pressure data are greatly different, it means that the displacement sensor is damaged or the signal is lost. At this time, the control system can switch to the pressure sensor 40 as the main sensor, and the stroke data of the cylinder is inversely deduced according to the pressure data uploaded by the pressure sensor 40, so as to maintain normal gear shifting and ensure normal test. When the cylinder position remains unchanged, the clutch spring force Fspring=air force Fair, according to the formula Fspring=k*x and the formula Fair=P*A, the stroke data of the cylinder can be calculated according to the pressure data.

[0027] As shown in Figure 1 In this embodiment, the pipe diameters of the valve-after fine adjustment pipeline 66, the coarse adjustment pipeline 62 and the CPCA air inlet pipeline 68 are preferably 10 mm, and the specification of the coarse adjustment three-way two-position valve 52 is DN10. The pipe diameter of the valve-before fine adjustment pipeline 64 is 2-5 mm, and the pipe diameter of the valve-before fine adjustment pipeline 64 is further preferably 4 mm, and the specification of the fine adjustment three-way two-position valve 50 is DN4. The pipe diameter of the coarse adjustment pipeline 62 is large, and the flow of the gas is large, so that the CPCA 30 can be quickly inflated at the beginning of the test, so that the cylinder stroke quickly approaches the command stroke, and the test time is shortened. The pipe diameter of the valve-before fine adjustment pipeline 64 is small, and the flow of the gas is small, so that the cylinder stroke can be finely adjusted, the response speed of the system is improved, the impact of the large flow on the cylinder is avoided, the system is prevented from oscillating, and the system can quickly tend to be stable. The pipe diameter of the valve-after fine adjustment pipeline 66 is large, so that when the fine adjustment three-way two-position valve 50 is switched to exhaust at the end of the test, the gas in the cylinder can be quickly exhausted, the cylinder pressure can be quickly released, the reset time is shortened, and the target response is <150 ms.

[0028] Example two:

[0029] A double-valve-diameter cooperative AMT clutch pneumatic control method based on the double-valve-diameter cooperative AMT clutch pneumatic control system of example one, comprising the following steps:

[0030] Step S1, open the coarse adjustment three-way two-position valve 52, so that the inlet P and the outlet A of the coarse adjustment three-way two-position valve 52 are communicated, and the CPCA 30 is quickly inflated;

[0031] Step S2, when the cylinder stroke of CPCA 30 reaches 80%~90% of the command stroke, close the coarse adjustment three-way two-position valve 52;

[0032] Step S3, open the fine adjustment three-way two-position valve 50, so that the inlet P and the outlet A of the fine adjustment three-way two-position valve 50 are in communication, and the communication and closing of the inlet P and the outlet A of the fine adjustment three-way two-position valve 50 are controlled by a PID control algorithm, so as to adjust the gas flow to finely adjust the cylinder stroke of CPCA 30, so that the cylinder stroke is kept at the command stroke;

[0033] Step S4, after the test is completed, close the inlet P and the outlet A of the fine adjustment three-way two-position valve 50, communicate the outlet A and the exhaust port R, quickly exhaust the gas in CPCA 30, quickly release the cylinder pressure, and shorten the cylinder reset time.

[0034] The PID control algorithm in step S3 in the embodiment is executed every 10 ms, including the following steps:

[0035] Step S31, collect the cylinder stroke x and the cylinder pressure P by the displacement sensor and the pressure sensor 40 of CPCA 30;

[0036] Step S32, calculate the clutch spring force according to the formula Fspring=k*x, wherein k is the stiffness of the clutch spring; calculate the air force according to the formula Fair=P*A, wherein A is the effective area of the cylinder piston, and the clutch spring force Fspring needs to be overcome when the cylinder piston of CPCA 30 moves, i.e. Fair>Fspring when the cylinder piston moves;

[0037] Step S33, calculate the error according to the formula e(t)=X-x, wherein X is the command stroke, and the command stroke set value is 0~40 mm;

[0038] Step S34, adjust the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd according to the change of the clutch spring force;

[0039] Step S35, calculate u(t)=Kp*e(t)+Ki*∫e(t)dt+Kd*de(t) / dt, and adjust the communication and closing of the inlet P and the outlet A of the fine adjustment three-way two-position valve 50 according to the value of u(t).

[0040] In step S34, 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.

[0041] The initial value of the proportional coefficient Kp is set as Kp0=20,

[0042] The initial value of the integral coefficient Ki is set as Ki0=0,

[0043] The initial value of the differential coefficient Kd is set as Kd0=0,

[0044] If |e(t)|>2mm and ΔFspring>100N / s, the proportional coefficient Kp is increased and the integral coefficient Ki is decreased;

[0045] If |e(t)|<0.5mm and ΔFspring<50N / s, the proportional coefficient Kp is decreased and the differential coefficient Kd is increased.

[0046] The adjustment logic of the specific proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd is as follows:

[0047] The proportional coefficient Kp: when the clutch spring force increases, Kp is increased to enhance the response speed,

[0048] Kp=Kp0*(1+α*Fspring / Fmax),

[0049] Wherein: alpha is a gain coefficient, the value is 0.5-1.0, and the further value is 0.5;

[0050] Fmax is the maximum clutch spring force, and the value is 12000N.

[0051] The integral coefficient Ki: when the clutch spring force changes sharply, Ki is reduced to suppress the integral accumulation,

[0052] Ki=Ki0*(1-beta*DeltaFspring / DeltaT),

[0053] Wherein: beta is an attenuation coefficient, the value is 0.2-0.5, and the further value is 0.2;

[0054] DeltaFspring is the change rate of the clutch spring force.

[0055] The differential coefficient Kd: when the clutch spring force changes rapidly, Kd is increased to enhance the damping effect,

[0056] Kd=Kd0*(1+gamma*DeltaFspring / DeltaT),

[0057] Wherein: gamma is a gain coefficient, the value is 0.1-0.3, and the further value is 0.1.

[0058] The AMT clutch pneumatic control system and method based on the cooperation of double valve diameters can realize the rapid response and accurate adjustment of the CPCA stroke by setting the pipe diameter of the coarse adjustment pipeline and the fine adjustment pipeline to be different for CPCA inflation, and setting the proportional coefficient Kp, integral coefficient Ki and differential coefficient Kd in the PID control algorithm to be dynamic values that change with the change of the clutch spring force, so as to meet the requirements of the CPCA bench test.

[0059] The present application is not limited to the above-described specific embodiments, and various modifications made by those skilled in the art based on the above-described concept without creative labor fall within the scope of the present application.

Claims

1. An AMT clutch pneumatic control system based on dual valve diameter coordination, characterized in that, The rough adjustment pipeline (62) and the fine adjustment pipeline are in communication with the gas source pipeline (60) simultaneously, the end of the rough adjustment pipeline (62) and the fine adjustment pipeline are in communication with the CPCA inlet pipeline (68), the CPCA inlet pipeline (68) is in communication with the inlet of the CPCA (30); the rough adjustment pipeline (62) is provided with a rough adjustment three-way two-position valve (52), the rough adjustment pipeline (62) at the rear end of the rough adjustment three-way two-position valve (52) is provided with a check valve (54); the fine adjustment pipeline is provided with a fine adjustment three-way two-position valve (50), the diameter of the valve front fine adjustment pipeline (64) at the front end of the fine adjustment three-way two-position valve (50) is smaller than the diameter of the valve rear fine adjustment pipeline (66) at the rear end of the fine adjustment three-way two-position valve (50) and the rough adjustment pipeline (62); the rough adjustment three-way two-position valve (52), the fine adjustment three-way two-position valve (50) and the CPCA (30) are electrically connected with the TCU (20), and the TCU (20) is in communication connection with the upper computer (10).

2. The dual-valve-diameter-cooperative-based AMT clutch pneumatic control system according to claim 1, wherein, The pressure sensor (40) is installed at the inlet of the CPCA (30), and the pressure sensor (40) is electrically connected with the TCU (20).

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

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

5. The AMT clutch pneumatic control method based on double valve diameter coordination, characterized in that, The AMT clutch pneumatic control system based on the double-valve-diameter cooperation according to any one of claims 2-4 is realized, and comprises the following steps: Step S1, the rough adjustment three-way two-position valve (52) is opened, so that the inlet and the outlet of the rough adjustment three-way two-position valve (52) are in communication, and the CPCA (30) is quickly inflated; Step S2, when the cylinder stroke of the CPCA (30) reaches 80%-90% of the command stroke, the rough adjustment three-way two-position valve (52) is closed; Step S3, the fine adjustment three-way two-position valve (50) is opened, so that the inlet and the outlet of the fine adjustment three-way two-position valve (50) are in communication, the PID control algorithm is used to control the communication and closing of the inlet and the outlet of the fine adjustment three-way two-position valve (50), the gas flow is adjusted to finely adjust the cylinder stroke of the CPCA (30), so that the cylinder stroke is kept at the command stroke; Step S4, after the test is finished, the inlet and the outlet of the fine adjustment three-way two-position valve (50) are closed, the outlet and the exhaust port are in communication, the gas in the CPCA (30) is quickly discharged, the cylinder pressure is quickly released, and the cylinder reset time is shortened.

6. The dual-valve-diameter coordination based AMT clutch pneumatic control method according to claim 5, characterized in that, 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.

7. The dual-valve-diameter coordination based AMT clutch pneumatic control method according to claim 6, characterized in that, The PID control algorithm comprises the following steps: Step S31, the cylinder stroke x and the cylinder pressure P are collected by the displacement sensor of the CPCA (30) and the pressure sensor (40); Step S32, the clutch spring force is calculated according to the formula Fspring=k*x, wherein k is the clutch spring stiffness; Step S33, calculate the error according to the formula e(t)=X-x, wherein X is the command stroke; Step S34, adjust 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 adjustment three-way two-position valve (50) according to the value of u(t).

8. The dual-valve-diameter coordination based AMT clutch pneumatic control method according to claim 7, characterized in that, In the step S34, the initial value of the proportional coefficient Kp is set as Kp0=20, the initial value of the integral coefficient Ki is set as Ki0=0, and the initial value of the differential coefficient Kd is set as 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 dual-valve-diameter coordination based AMT clutch pneumatic control method according to claim 8, characterized in that, In the step S34, the specific calculation formula of the proportional coefficient Kp, the integral coefficient Ki and the differential coefficient Kd is as follows: Kp=Kp0*(1+α*Fspring / Fmax), wherein: α is a gain coefficient, and the value is 0.5-1.0; Fmax is the maximum clutch spring force, and the value is 12000N; Ki=Ki0*(1-β*ΔFspring / Δt), wherein: β is an attenuation coefficient, and the value is 0.2-0.5; ΔFspring is the change rate of the clutch spring force; Kd=Kd0*(1+γ*ΔFspring / Δt), wherein: γ is a gain coefficient, and the value is 0.1-0.

3.

10. The dual-valve-diameter coordination based AMT clutch pneumatic control method according to claim 7, wherein, The PID control algorithm is executed every 10ms.

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