重庆大学学报2025，Vol.48Issue(7)：27-37,11.DOI:10.11835/j.issn.1000-582X.2025.212
考虑环境与摩擦因素的工程车辆起步自适应控制策略
Adaptive starting control strategy for engineering vehicles considering environmental and friction factors
摘要
Abstract
Engineering vehicles operate under high torque,high load,and complex environmental conditions,facing numerous technical challenges.Particularly during the starting phase,the significant slippage of clutch discs significantly impacts the precision of clutch torque control.Therefore,to achieve adaptive start-up control for AMT engineering vehicles,an adaptive control method combining linear quadratic regulator(LQR)and deep neural network was proposed for the AMT start-up process.At the upper level of the control strategy,a constant engine speed strategy was formulated based on different starting intentions,and the LQR was used to obtain the reference speed corresponding to the reference torque of the clutch under different environments.With considering the complexity of the operating environment,a certain range of perturbations was introduced into the vehicle dynamics model to generate a series of reference rotational speed trajectories as the training data set for the deep neural network,and a robust data model offline was obtained.At the lower level of the control strategy,a clutch friction factor adaptive controller was designed to estimate the clutch friction factor in real time.Finally,the effectiveness of the adaptive start control method for engineering vehicles equipped with AMT was verified by simulation tests.The results show that the proposed method has good starting performance under the condition of unknown friction coefficients and can adapt to different starting intentions and driving environments.Compared with the PID controller which does not depend on the mechanism model,it has higher adaptive ability and robustness.关键词
工程车辆/起步控制/最优二次型控制器/深度神经网络Key words
engineering vehicle/starting control/optimal secondary controller/deep neural network分类
交通工程引用本文复制引用
盛云龙,刘永刚,廖熠华,秦大同,吕昌..考虑环境与摩擦因素的工程车辆起步自适应控制策略[J].重庆大学学报,2025,48(7):27-37,11.基金项目
国家重点研发计划(2023YFB3406505) （2023YFB3406505）
江苏省科技成果转化专项资金项目(BA2022033) （BA2022033）
江苏省双创团队项目(JSSCTD202239).Supported by National Key Research and Development Plan(2023YFB3406505),Jiangsu Provincial Science and Technology Achievement Transformation Special Project(BA2022033),and Jiangsu Double Innovation Team Project(JSSCTD202239). （JSSCTD202239）
