机械式自动变速器直线换挡执行器位移串级控制

Position cascade control for a linear gearshift actuator in automated mechanical transmission

针对直线换挡执行器控制精度与快速响应之间的矛盾,借助于参考模型的曲线规划能力和线性扩张状态观测器的总和扰动估计能力,设计一种将输入前馈、扰动前馈补偿与误差反馈控制相结合的位移串级控制系统。设计过程基于带宽的概念,从而降低了参考模型设计和控制参数调节的难度。仿真和试验结果表明,提出的参数调节方法是可行的,输入前馈和扰动前馈补偿环节的引入提高了误差反馈控制系统在参数变化和大负载扰动下的控制性能,动态跟随误差小于6.25%,设定时间内稳态误差接近于零,为进一步改善机械式自动变速器换挡品质的研究奠定了基础。

In order to resolve the conflict between the control precision and system response characteristics,by virtue of a reference model to generate the reference trajectory and a linear extended state observer to estimate the total disturbances,the position cascade controller,which combines input feedforward and disturbance feedforward compensation with error feedback control,is proposed for the linear gearshift actuator.Based on the bandwidth method,the reference model designing and the controller parameters adjusting process were simplified.Simulation and experimental results show that,this method for controller parameters adjusting is effective,and the application of the input feedforward and the disturbance feedforward compensation greatly improves the performance of the error feedback control system in the presence of parameter uncertainties and large load disturbances.The dynamic following error is less than 6.25 ％,and the static error is close to zero within the predetermined time period.It constructs the basis of the future research on improving the shift quality of automated mechanical transmission.