CN106647266A - Variable universe fuzzy control method for gear shift mechanism of automobile speed changer - Google Patents

Variable universe fuzzy control method for gear shift mechanism of automobile speed changer Download PDF

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Publication number
CN106647266A
CN106647266A CN201611158715.5A CN201611158715A CN106647266A CN 106647266 A CN106647266 A CN 106647266A CN 201611158715 A CN201611158715 A CN 201611158715A CN 106647266 A CN106647266 A CN 106647266A
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error
control
gear
position quantity
fuzzy
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胡斐
王理章
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Shanghai Xin Lian Kinetic Systems Inc
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Shanghai Xin Lian Kinetic Systems Inc
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The invention aims at providing a variable universe fuzzy control method for a gear shift mechanism of an automobile speed changer, and the method comprises the following steps: setting a target gear position reference point, wherein a feedback value of an actual gear position quantity and the target gear position reference point form a position quantity error in a running process of a vehicle; calculating the change rate of the position quantity error through differential; selecting a scalability factor according to the size of the position quantity error; adjusting the input universe of the position quantity error and the error change rate through employing the scalability factor, and generating a new position quantity error and a new error change rate; inputting the new position quantity error and error change rate into variable universe fuzzy control to serve as two input variables; obtaining a control rule needed by gear forwarding control through a fuzzy rule; inputting an output voltage into a motor gear forwarding mechanism for operation; enabling the gear shift mechanism to change the gear position to a reference position quantity under the control of a motor, and completing the variable universe fuzzy closed control of the gear shift of a vehicle.

Description

A kind of Varied scope fuzzy control method of gearshift mechanism of automotive transmission
Technical field
The present invention relates to the field of auto electronic control technology, more particularly to a kind of variable universe of automobile shift system is obscured Control method.
Background technology
Gearshift is one of important component part of automobile, mainly by selector fork, shifting leading screw, sensor, choosing The essential parts such as shift motor are constituted.With the progress and the development of control theory of computer technology, shifting system control mode A certain degree of development is obtained, has replaced manual operations to control to move back shelves into gear and show very strong advantage with computer technology, can Defect in for making up artificial operation.Wherein fuzzy control belongs to Based Intelligent Control, is independent of Mathematical Modeling, but by by A series of control rules obtained by expertise knowledge make inferences, and with this controlled output amount is obtained.Non-linear control can be realized System, sets up definite Mathematical Modeling, with preferable robustness and flexibility without for object.
But due to the external environment in vehicle traveling process, driver intention it is complicated and changeable, and engine and clutch sheet There is the impact such as non-linear, time lag, parameter perturbation in body, difficult with the traditional fuzzy control method with fixed input, output domain To give full play to the effect of fuzzy control.The essence of fuzzy control is exactly interpolation control, during using Varied scope fuzzy control, although Rule format is constant, and domain shrinks and causes regular local refinement, encrypts equivalent to increased fuzzy rule number, i.e. interpolation point, So as to improve control accuracy.The input of Varied scope fuzzy control, output variable can be carried out in good time according to the change of driving cycle Adjustment.
The content of the invention
The present invention is intended to provide a kind of Varied scope fuzzy control method of gearshift mechanism of automotive transmission, the control method tool There is the characteristics of control is accurate, computational efficiency is high.
Technical scheme is as follows：A kind of Varied scope fuzzy control method of gearshift mechanism of automotive transmission, including Following steps：
A, sets target gear positions reference point, in vehicle travel process, the value of feedback and mesh of actual gear positions amount Mark gear positions refer to dot formation positions amount error, then with the rate of change of differential calculation position quantity error；
B, respectively selection contraction-expansion factor, the corresponding contraction-expansion factor of gear positions amount error, the rate of change of position quantity error Corresponding contraction-expansion factor, the contraction-expansion factor of output variable.
C, design fuzzy controller 1, the fuzzy controller is made using position quantity error signal and its fractional order differential signal For input quantity, the contraction-expansion factor of dependent variable is exported as controller；
D, design fuzzy controller 2, the fuzzy controller is made using position quantity error signal and its fractional order differential signal For input quantity, enter to keep off the voltage of motor as controller output；
Finally, complete gear change mechanism Varied scope fuzzy control, make vehicle enter gear by location of instruction precision track to Determine gear positions reference quantity.
It is an advantage of the current invention that：
(1) gearshift mechanism of automotive transmission Varied scope fuzzy control need not rely on accurate ship motion mathematical model and Too many domain-specialist knowledge, under the constant front topic of rule format, domain shrinks as error diminishes, it is also possible to due to by mistake Difference increases and extends, and domain is shunk equivalent to rule is increased, so as to improve the precision of fuzzy control.
(2) gearshift mechanism of automotive transmission Varied scope fuzzy control make full use of Varied scope fuzzy control precision higher and With advantages such as larger stable region, computational efficiency height, the precision into gear control is improve.
Description of the drawings
Fig. 1 is the Varied scope fuzzy control structure diagram of gearshift mechanism of automotive transmission.
Specific embodiment
The present invention is illustrated with reference to embodiment.
As shown in figure 1, the Varied scope fuzzy control method and step of the present embodiment gearshift mechanism of automotive transmission is as follows：
A, sets target gear positions reference point, in vehicle travel process, position quantity error e is joined by target gear position Examination point deducts the value of feedback of actual gear positions amount and can be calculated, then uses differential calculationThe change of position quantity error can be obtained Rate；
B, respectively selection contraction-expansion factor, the corresponding contraction-expansion factor of gear positions amount error, the rate of change of position quantity error Corresponding contraction-expansion factor, the contraction-expansion factor of output variable.
Variable universe calculates comprising the following steps that for value with contraction-expansion factor：
If Xi=[- E, E] (i=1,2 ..., n) be input variable xiVarying domain, Y=[- E, E] be output variable y Varying domain；Aij(j=1,2 ..., m) be XiOn fuzzy division, BjFor the fuzzy division on y, depending on A, B is language change Amount, the rule of fuzzy reasoning can be expressed as
If x1jis A1, x2jis a2, and......and xnjis Anthen y is Bj
If setting xijRespectively AijPeak dot, yjFor BjFuzzy monodrome element, it is mentioned above when domain immobilizes Inference rule can behave as n units burst interpolating function as follows：
If domain XiCan respectively with variable x with YiChange with the change of y, be designated as
Xi(xi)=[- αi(xi)Ei, αi(xi)Ei]
Y (y)=[- β (y) U, β (y) U]
Wherein, αi(xi) the variable universe contraction-expansion factor of input variable and output variable is respectively with β (y), if for all Input variable adopts identical contraction-expansion factor, then formula can be reduced to
Xi(xi)=[- α (xi) E, α (xi)E]
Due to having control system for dual input list output model, the rate of change containing position quantity error e Yu position quantity error Two input quantities, the contraction-expansion factor algorithm of dual input variable is as follows：
α (x, y)=1- λX, yexp(-kX, yx2-kY, xy2)
In formula, λX, yIt is dual factors contraction-expansion factor coefficient, 0 ＜ λX, y＜ 1；kxFor the index coefficient of contraction-expansion factor, kx＞ 0.It is defeated The contraction-expansion factor algorithm for going out variable is as follows：
β (y)=1- ζ exp (- μyy)2
In formula, ζ is output variable contraction-expansion factor coefficient, 0 ＜ ζ ＜ 1；μyFor the index coefficient of contraction-expansion factor, μy＞ 0.
The membership function of Varied scope fuzzy control can be taken as " triangular wave ", as domain whether equidistant partition, membership function Which type of shape is taken, seems unimportant under domain is flexible.
C, design fuzzy controller 1, the fuzzy controller is made using position quantity error signal and its fractional order differential signal For input quantity, the contraction-expansion factor of dependent variable is exported as controller；
Fuzzy controller 1 is input into the physical location amount to provide by sensor in gearshift not in the same time and reference The difference e and the rate of change of difference of the target location amount of pointIt is output as contraction-expansion factor α1、α2And β.The domain of input quantity for [- 1,1], the domain of rate of change is [0,1], α1、α2It is [0,1] with the domain of β.
Using " negative big " (NB), " in negative " (NM), " negative little " (NS), " zero " (ZD), " just little " (PS), " center " (PM), " honest " (PB) 7 linguistic variables describe input quantity, and input language variable fuzzy subset is { NB, NM, NS, ZO, PS, PM, PB }； Using " zero " (ZO), " just little " (PS), " center " (PM), " honest " (PB) 4 linguistic variables describe contraction-expansion factor α1、α2, obscure Subset is { ZO, PS, PM, PB }；Using " zero " (ZO), " very little " (VS), " little " (S), " somewhat little " (SB), " in " (M), " big " is (B), " very big " (VB) 7 linguistic variables describe contraction-expansion factor β, and fuzzy subset is { ZO, VS, S, SB, M, B, VB }.Take " triangular wave " is used as membership function.
Fuzzy control rule is as follows：
(1)α1、α2Really establish rules then：As | e | orWhen larger, illustrate that site error now or error rate are larger, Vehicle has the demand into gear, is now the control of raising vehicle, should choose larger α1、α2；As | e | orWhen less, this is illustrated When site error or error rate less, vehicle keeps stable state, α1、α2Take smaller value；When | e | is larger,It is less or | e | is less,When larger, α1、α2Value is between above two rule.
(2) β establishes rules then really：As e andDuring larger and identical symbol, show sensor displacement amount change in gearshift More acutely, control of the larger β value increase shifting system to Current vehicle motion state should be now taken, expands output domain Greatly；As e andDuring larger and contrary symbol, show that change in location is still violent, but have the trend for reducing this state, now should Less β value is taken, system had not only quickly been reduced variable quantity but also had not been produced larger vibration；As e close 0 andWhen larger, illustrate now Vehicle keeps stable state, but has the trend for aggravating motion, and β should take larger value expands output domain, increases gearshift and is Control of the system to vehicle-state.Comprehensive α1、α2Establish rules really with β, the control rule of fuzzy controller 1 can be obtained, such as table 1, the institute of table 2 Show.
The contraction-expansion factor α of table 11、α2Control rule table
The contraction-expansion factor β control rule tables of table 2
D, design fuzzy controller 2, the fuzzy controller is made using position quantity error signal and its fractional order differential signal For input quantity, enter to keep off the voltage of motor as controller output.
The input of fuzzy controller 2 is the physical location amount provided by sensor in gearshift and the target position of reference point The difference e of the amount of putting and the rate of change of differenceIt is output as into gear electric moter voltage.Fuzzy controller 2 is exported according to fuzzy controller 1 Contraction-expansion factor adjustment domain.Simultaneously according to the target of the physical location amount and reference point be given by sensor in gearshift The difference of position quantity, enters to keep off electric moter voltage value needed for calculating.
As e andWhen in the same direction, illustrate that the violent speed of vehicle movement is changed greatly and has the trend of increase, now should select compared with Big controlled quentity controlled variable carries out gearshift makes vehicle recover stable state；As e andWhen reversely, vehicle movement variation tendency is illustrated in reduction, this When should select less controlled quentity controlled variable make vehicle keep stable state.Fuzzy control rule is as shown in table 3.
The fuzzy control rule table of table 3
Finally, complete gear change mechanism Varied scope fuzzy control, make vehicle enter gear by location of instruction precision track to Determine gear positions reference quantity.By Fig. 1 and 1～table of table 3 as can be seen that implementing the variable universe Fuzzy Control of gearshift mechanism of automotive transmission Method processed, compares traditional fuzzy control situation, although rule format is constant, and domain shrinks and causes regular local refinement, equivalent to Increased fuzzy rule number, i.e. interpolation point encryption, so as to improve control accuracy.The input of Varied scope fuzzy control, output Variable can in good time be adjusted according to the change of driving cycle.Because fractional calculus computing can adopt microprocessing reality Existing, with the development of high speed microprocessor and fuzzy logic control chip, the method is conducive to engineering test, therefore proposed by the invention Fuzzy control method not only effectively and have an engineering realizability.

Claims (1)

1. a kind of Varied scope fuzzy control method of gearshift mechanism of automotive transmission, it is characterised in that comprise the following steps：
(1) sets target gear positions reference point, in vehicle travel process, the value of feedback and targeted gear of actual gear positions amount Position reference by location dot formation positions amount error, then with the rate of change of differential calculation position quantity error；
(2) contraction-expansion factor, the respectively corresponding contraction-expansion factor of gear positions amount error, the rate of change correspondence of position quantity error are chosen Contraction-expansion factor, the contraction-expansion factor of output variable；
(3) according to the size of position quantity error, using contraction-expansion factor adjustment position amount error and the input domain of error rate, The new position quantity error of generation and error rate, while new position quantity error and error rate are sent into variable universe obscuring Used as two input variables, Jing fuzzy rules are obtained into the required control law of gear control for control, and output voltage is sent into gear Motor is operated to gearshift, and gearshift changes gear positions under the control of motor to be measured to reference position, is completed The variable universe fuzzy closed loop control of vehicle shifting.
CN201611158715.5A 2016-12-07 2016-12-07 Variable universe fuzzy control method for gear shift mechanism of automobile speed changer Pending CN106647266A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108333921A (en) * 2017-09-27 2018-07-27 长春工业大学 Automobile gear shift rule optimization method based on dynamic programming algorithm
CN111162698A (en) * 2020-03-09 2020-05-15 山东大学 Constant-voltage bracket PID brushless direct current motor fuzzy control system and method for AGV
CN111385362A (en) * 2020-03-13 2020-07-07 腾讯科技（深圳）有限公司 Signal transmission method and related equipment

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108333921A (en) * 2017-09-27 2018-07-27 长春工业大学 Automobile gear shift rule optimization method based on dynamic programming algorithm
CN111162698A (en) * 2020-03-09 2020-05-15 山东大学 Constant-voltage bracket PID brushless direct current motor fuzzy control system and method for AGV
CN111385362A (en) * 2020-03-13 2020-07-07 腾讯科技（深圳）有限公司 Signal transmission method and related equipment
CN111385362B (en) * 2020-03-13 2023-10-24 腾讯科技（深圳）有限公司 Signal transmission method and related equipment

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