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汽车安全与节能学报

汽车安全与节能学报 ›› 2015, Vol. 6 ›› Issue (03): 224-229.DOI: 10.3969/j.issn.1674-8484.2015.03.004

• 汽车安全 • 上一篇    下一篇

基于Kalman 滤波的AMT 车辆起步时离合器传递扭矩估计

邬学斌，张欣，陈宏伟   

  1. 北京交通大学 机械与电子控制工程学院， 北京 100044
  • 收稿日期:2015-06-03 出版日期:2015-09-25 发布日期:2015-10-12
  • 作者简介:邬学斌(1965 － )，男( 汉)，安徽，高工。E-mail: 09119003@bjtu.edu.cn
  • 基金资助:

    国家“八六三”高技术研究发展计划(2012AA111104)

Clutch transmitting torque estimation during AMT vehicle starting based on Kalman filter

WU Xuebin, ZHANG Xin, CHEN Hongwei   

  1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
  • Received:2015-06-03 Online:2015-09-25 Published:2015-10-12

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摘要：

为了实现自动离合器传递扭矩的直接控制，以自动手动变速器(AMT) 车辆为研究对象，建立
了车辆动力传动系统动力学模型。以发动机转速和离合器传递扭矩为元素构建状态向量，推导离散状
态空间模型，设计了基于离散Kalman 滤波的离合器传递扭矩估计算法，对车辆起步过程中的离合器
扭矩进行了估计，通过与仿真设定值对比，对扭矩估计误差进行了分析。研究了采样周期变化（5~
25 ms 内）对离合器扭矩估计的影响。结果表明，扭矩估计误差随采样周期的增加而增大，在采样周
期为10 ms 时，扭矩估计精度下限为7.5％，所以该算法具有足够的精确性。

关键词: 车辆, 自动手动变速器(AMT) , 自动离合器, 传递扭矩, Kalmann 滤波

Abstract:

A power train dynamics model was built for an automatic manual transmission (AMT) vehicle
to realize the transmitting torque direct control of the automatic clutch. The discrete state space model for
estimating the clutch transmitting torque was derived. The state vector was constituted by the engine rotation
speed and the clutch transmitting torque. The Kalman filtering algorithm was used to estimate the clutch
transmitting torque, to estimate clutch transmitting torque for vehicle starting process, and to analyze estimation
errors by comparing the estimated and simulated values of the clutch torque. Impact of the sample time (5-25 ms)
on clutch torque estimation errors was explored. The results show that the torque estimation error increases
with the increase of sampling time; the lower limit of torque estimation accuracy is 7.5% at sampling time 10 ms.
Therefore, the algorithm show sufficient accuracy.

Key words: vehicles, automatic manual transmission (AMT), automatic clutch, transmitting torque, Kalman filter