农机化研究2026，Vol.48Issue(5)：256-264,9.DOI:10.13427/j.issn.1003-188X.2026.05.033
基于 KF-LQR的拖拉机 HMCVT 换段最优控制研究
Optimal Control of Tractor HMCVT Shift Process Based on KF-LQR
摘要
Abstract
To minimize disturbances during the shifting process of hydraulic mechanical transmission and to further en-hance the quality of this process,proposed a comprehensive control strategy(KF-LQR)for the shifting process of HM-CVT,based on the Kalman filter and optimized by Linear Quadratic Regulator(LQR).Firstly,focused on the proposed geometric two-stage hydraulic mechanical transmission system.By analyzing the transmission mechanism and rotational speed characteristics,it elucidated the actual variations in the speeds of the master and slave disc of the shifting clutch during the shift process and explored the reasons for the fluctuation of the shift process.Furthermore,the quality assess-ment metrics for the shift process are employed as the cost function.The clutch hydraulic pressure was designated as the control variable to further reduce disturbances during the shift process,leading to the design of the LQR control method for the shifting process of HMCVT based on the Kalman Filter.Finally,the validation of the physical model and control model was completed with the help of the AMEsim-MATLAB/Simulink online co-simulation platform.The results indi-cated that the KF-LQR control significantly reduced the maximum impact during the transition process by 54.2%com-pared to LQR control and 72.1%compared to no control.Additionally,the slip loss decreased by 24.0%and 47.2%,respectively,and the shift time was reduced by 0.21 s.The peak output rotational speed also dropped by 39.4%and 55.2%,respectively.Thus,the optimization control for HMCVT shifting based on anti-disturbance KF-LQR effectively filters out the shifting disturbances and improves the shifting quality.关键词
液压机械/无级变速器/换段品质/换段扰动/卡尔曼滤波器/二次型控制/AMEsim-MATLAB/Simulink联合仿真Key words
hydraulic-mechanical/continuously variable transmission/shifting quality/shift disturbance/Kalman filter/linear quadratic regulator/AMEsim-MATLAB/Simulink co-simulation分类
农业科技引用本文复制引用
李文硕,李妍颖,徐立友,赵腾龙,刘孟楠..基于 KF-LQR的拖拉机 HMCVT 换段最优控制研究[J].农机化研究,2026,48(5):256-264,9.基金项目
国家重点研发计划项目(2022YFD2001200) （2022YFD2001200）
国家农业重大专项子课题(NK202216010401) （NK202216010401）
河南省重大科技专项(221100110800) （221100110800）
国机集团青年基金重点项目(QNJJ-ZD-2022-03) （QNJJ-ZD-2022-03）
