Article(id=1200070649352909235, tenantId=1146029695717560320, journalId=1189918454225211397, issueId=1200070647759078025, articleNumber=null, orderNo=null, doi=10.20104/j.cnki.1674-6546.20230419, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=1720108800000, revisedDateStr=2024-07-05, acceptedDate=null, acceptedDateStr=null, onlineDate=1764048739039, onlineDateStr=2025-11-25, pubDate=1726329600000, pubDateStr=2024-09-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1764048739039, onlineIssueDateStr=2025-11-25, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1764048739039, creator=13701087609, updateTime=1764048739039, updator=13701087609, issue=Issue{id=1200070647759078025, tenantId=1146029695717560320, journalId=1189918454225211397, year='2024', volume='', issue='9', pageStart='1', pageEnd='48', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1764048738660, creator=13701087609, updateTime=1764049380600, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1200073340305109868, tenantId=1146029695717560320, journalId=1189918454225211397, issueId=1200070647759078025, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1200073340309304173, tenantId=1146029695717560320, journalId=1189918454225211397, issueId=1200070647759078025, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=21, endPage=26, ext={EN=ArticleExt(id=1200070650648949172, articleId=1200070649352909235, tenantId=1146029695717560320, journalId=1189918454225211397, language=EN, title=Research on Method of Shift Map Calibration Based on Virtual Calibration Technology, columnId=null, journalTitle=Automotive Engineer, columnName=null, runingTitle=null, highlight=null, articleAbstract=

Simulation research on automatic transmission shift schedule is carried out based on virtual calibration technology. Firstly, a high-precision engine model, transmission model and physical models of the entire vehicle and its main components are established. The transmission control model is built using known TCU control strategies or directly connected to the TCU controller on the virtual simulation platform. The Hardware-in-the-Loop (HiL) simulation platform is used to conduct TCU calibration related working conditions simulation testing, and the simulation results are compared with experimental data. The research results indicate that this model-based virtual calibration technology can meet the accuracy requirements in the field of shift schedule calibration and can be used to guide vehicle shift schedule calibration, effectively shortening calibration time and improving calibration quality.

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基于虚拟标定技术进行了自动变速器换挡规律仿真研究,首先建立高精度物理模型(包括发动机、变速器及整车主要零部件等),利用已知的变速器控制单元(TCU)控制策略搭建变速器控制模型或直接在虚拟仿真平台接入TCU控制器,利用硬件在环(HiL)仿真平台进行TCU标定及相关工况仿真测试,并将仿真结果与试验数据进行对比,结果表明,基于模型的虚拟标定技术可满足换挡规律标定精度要求,并有效缩短标定时间、提升标定质量。

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挡位 速比 转动惯量/kg·m2
1 18.37 0.018
2 10.60 0.017
3 6.820 0.028
4 4.970 0.056
5 4.110 0.089
6 3.329 0.080
7 2.670 0.090
8 2.240 0.121
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变速器硬件参数

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挡位 速比 转动惯量/kg·m2
1 18.37 0.018
2 10.60 0.017
3 6.820 0.028
4 4.970 0.056
5 4.110 0.089
6 3.329 0.080
7 2.670 0.090
8 2.240 0.121
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参数 数值
整备质量/kg 2 312
满载质量/kg 2 877
制动片摩擦因数 0.4
卡钳活塞总横截面积/cm2 172
制动片有效半径/mm 139
轮胎滚动半径/mm 342
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车体硬件参数

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参数 数值
整备质量/kg 2 312
满载质量/kg 2 877
制动片摩擦因数 0.4
卡钳活塞总横截面积/cm2 172
制动片有效半径/mm 139
轮胎滚动半径/mm 342
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参数 数值 参数 数值
迎风面积/m2 3.299 F0 182.1
风阻系数 0.35 F1 0.183 2
滚动阻力系数 0.007 F2 0.051 2
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车体设计参数

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参数 数值 参数 数值
迎风面积/m2 3.299 F0 182.1
风阻系数 0.35 F1 0.183 2
滚动阻力系数 0.007 F2 0.051 2
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基于虚拟标定技术的换挡规律标定方法研究
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王小峰 , 陈国栋 , 李岩 , 杨云波 , 张学锋
汽车工程师 | 2024,(9): 21-26
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汽车工程师 | 2024, (9): 21-26
基于虚拟标定技术的换挡规律标定方法研究
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王小峰, 陈国栋, 李岩, 杨云波, 张学锋
作者信息
  • 中国第一汽车股份有限公司研发总院, 长春 130013
Research on Method of Shift Map Calibration Based on Virtual Calibration Technology
Xiaofeng Wang, Guodong Chen, Yan Li, Yunbo Yang, Xuefeng Zhang
Affiliations
  • Global R&D Center, China FAW Corporation Limited, Changchun 130013
出版时间: 2024-09-15 doi: 10.20104/j.cnki.1674-6546.20230419
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基于虚拟标定技术进行了自动变速器换挡规律仿真研究,首先建立高精度物理模型(包括发动机、变速器及整车主要零部件等),利用已知的变速器控制单元(TCU)控制策略搭建变速器控制模型或直接在虚拟仿真平台接入TCU控制器,利用硬件在环(HiL)仿真平台进行TCU标定及相关工况仿真测试,并将仿真结果与试验数据进行对比,结果表明,基于模型的虚拟标定技术可满足换挡规律标定精度要求,并有效缩短标定时间、提升标定质量。

换挡规律  /  硬件在环  /  虚拟标定

Simulation research on automatic transmission shift schedule is carried out based on virtual calibration technology. Firstly, a high-precision engine model, transmission model and physical models of the entire vehicle and its main components are established. The transmission control model is built using known TCU control strategies or directly connected to the TCU controller on the virtual simulation platform. The Hardware-in-the-Loop (HiL) simulation platform is used to conduct TCU calibration related working conditions simulation testing, and the simulation results are compared with experimental data. The research results indicate that this model-based virtual calibration technology can meet the accuracy requirements in the field of shift schedule calibration and can be used to guide vehicle shift schedule calibration, effectively shortening calibration time and improving calibration quality.

Shift map  /  HiL  /  Virtual calibration
王小峰, 陈国栋, 李岩, 杨云波, 张学锋. 基于虚拟标定技术的换挡规律标定方法研究. 汽车工程师, 2024 , (9) : 21 -26 . DOI: 10.20104/j.cnki.1674-6546.20230419
Xiaofeng Wang, Guodong Chen, Yan Li, Yunbo Yang, Xuefeng Zhang. Research on Method of Shift Map Calibration Based on Virtual Calibration Technology[J]. Automotive Engineer, 2024 , (9) : 21 -26 . DOI: 10.20104/j.cnki.1674-6546.20230419
电控系统在整车上的应用越来越广泛,且控制策略复杂化、精益化程度越来越高,动力总成控制器的标定参数大幅增加,使动力总成整车电控标定工作量和难度显著提高。为应对这一挑战,发展基于模型的虚拟标定技术能够显著缩短汽车产品开发周期,并大幅降低试验开发成本。
早期的硬件在环(Hardware-in-the-Loop,HiL)技术主要应用于单一控制器软件功能和逻辑的相关测试,并不面向整车性能和标定层面。近年来,国际知名高校和企业在乘用车排放、车载诊断系统(On-Board Diagnostic,OBD)及驾驶性等传统领域对虚拟标定技术的应用开展了深入研究[1-3]。同时,在高级辅助驾驶和自动驾驶领域,由于其测试工况的复杂性和问题测试工况难以复现,应用虚拟标定平台设定测试场景并进行验证也成为相关功能开发的必由之路[4-7]
对于传统乘用车标定,变速器控制单元(Transmission Control Unit,TCU)标定贯穿了整个标定开发周期,其中换挡规律标定处于TCU标定流程的最前端。换挡规律控制变速器的换挡时机,直接决定发动机的运行工况,因此换挡规律对于整车动力性、经济性、NVH性能和驾驶性都有重要影响[8-11]
通过虚拟标定技术可以在试验样车未下线时进行换挡规律初步标定,结合整车性能定位,调整标定参数达成动力性、经济性和驾驶性等工程目标。同时,虚拟标定技术摆脱了传统标定受试验场景和道路条件的限制,可缩短产品开发周期、提升标定质量。
本文基于数学模型与物理模型相结合的方法搭建整车模型,运用虚拟标定技术进行换挡规律标定方法研究,以期提高标定效率和标定质量。
以一台搭载2.0T四缸直喷增压汽油发动机和8速手自一体变速器的车辆为研究对象,基于ETAS LABCAR HiL搭建模型,虚拟标定仿真平台如图1所示。搭建的整车模型主要包括控制模型、物理模型、驾驶员模型和环境模型,其中:控制模型主要包括发动机控制模型、变速器控制模型及其他整车控制器虚拟模型,实现整个控制模型必要的信号交互;物理模型主要包括发动机模型、变速器模型及车体模型。整车模型框架如图2所示。
将发动机电子控制单元(Electronic Control Unit,ECU)作为发动机控制模型接入HiL仿真平台,实时接收、监测来自其他控制器的相关参数并控制发动机模型运行。其余相关控制器未直接接入HiL仿真平台,通过建立控制模型来控制对应物理模型的运行。
为进行换挡规律虚拟标定研究,利用MATLAB软件,结合TCU换挡规律相关控制策略,建立变速器控制模型,主要包括信号处理模块、液力变矩器控制模块、挡位选择模块、挡位切换模块、起停机控制模块及扭矩控制模块。换挡规律标定涉及的参数主要集中在液力变矩器控制模块和挡位选择模块,可以通过选择不同的驾驶模式及模式切换的条件,设置液力变矩器解、闭锁时刻及解、闭锁过程的控制参数,以及换挡时机和换挡过程的控制参数。
本文搭建的发动机模型是一维WAVE-RT模型,利用发动机建模仿真软件WAVE,采用纯物理原理的方式建立具有燃烧预测功能的发动机实时模型。
首先,搭建能够反映进、排气系统压力波动效应的一维韦伯燃烧模型;然后,对韦伯燃烧模型进行优化、锁定气路特征,基于准静态多项式拟合算法,在不精简发动机零部件的条件下,将发动机一维模型转化为实时燃烧预测模型,在满足实时模型计算速度要求的同时,保证万有特性超过95%的工况点的扭矩偏差在偏差限值范围内。实车标定中,变速器对发动机的扭矩精度的要求为:扭矩不超过100 N·m时偏差小于±5 N·m,扭矩大于100 N·m时偏差小于±5%。
以发动机万有特性台架测试工况点作为目标工况点,通过ECU对节气门、废气门、气门正时、喷油器以及点火线圈等进行控制,并利用汽车ECU实时自动标定软件eACME实现目标工况点的自动扫点测试,最终将同一工况点下的模型扭矩输出值与台架实测值进行对比,当前发动机模型扭矩精度如图3所示,满足变速器标定要求。在HiL仿真平台中,高精度的发动机实时模型能保证发动机运行过程中扭矩输出的计算值与真实值一致,从而保证换挡规律仿真结果的精确度。
本文所使用的变速器的相关参数如表1所示。利用MATLAB软件搭建变速器模型,主要包括液力变矩器扭矩传递模块、变速器各部分转动惯量模块、能量传递效率模块和各挡位速比模块。各模块设计参数与变速器硬件一致,性能参数来源于变速器台架测试结果,以保证变速器运行过程中的扭矩传递和能量传递效率的精确度。
利用MATLAB软件搭建车体模型,主要包括车架及轮胎模块。根据输入到车轮端的扭矩计算得到轮端驱动力,根据制动主缸压力计算制动时的轮端制动力,计算公式为:
FB=PmasterSμr/R
式中:FB为踩制动踏板时总的轮端制动力,Pmaster为制动主缸压力,S为4个车轮卡钳活塞的总横截面积,μ为制动片摩擦因数,r为制动片有效半径,R为轮胎滚动半径。
结合环境模型输出的车辆行驶阻力,得到总的轮端阻力。根据驱动力、阻力、车辆质量和各旋转件的转动惯量等,仿真计算得到整车的车速和加速度。需将模型计算结果与整车试验数据进行对比,以保证车体模型的精确度。车体部分的主要参数如表2所示。
驾驶员模型为整个仿真平台输入加速踏板开度及制动主缸压力等参数,模型中共设置了2种不同的驾驶员类型:
第1种类型主要用于全球统一轻型车辆测试循环(Woldwide Harmonized Light Vehicles Test Gycle,WLTC)等工况的仿真,加速踏板开度及制动主缸压力由当前车速与目标车速经PID计算产生,以达到良好的车速跟随效果。
第2种类型是直接输入特定的加速踏板开度和制动主缸压力参数曲线,如提取某次实车的WLTC工况参数中真实驾驶员对加速踏板和制动踏板的操作并输入到模型中,对比仿真结果和试验结果,以此校验模型的精度。也可以输入固定的加速踏板开度和制动主缸压力参数,达到与实车换挡规律标定时驾驶员的操作同样的效果。
环境模型用来设定车辆所处的外界环境,主要包括环境温度、大气压力、道路的坡度和相对风速等参数,同时计算车辆在各种工况下的实时行驶阻力,输入给车体模型。模型中设置了两种不同的行驶阻力计算方式:
方式1是根据实车在标准环境下滑行得出的试验数据拟合的滑行阻力系数F0F1F2计算出车辆在标准环境下的行驶阻力:
Fx=F0+F1V+F2V2
式中:Fx为行驶阻力,F0F1F2为常数项,V为当前车速。
方式2是根据车辆的设计参数计算行驶阻力,包括滚动阻力和风阻:
Fx=Fg+Ff=mgz+ρCdAV2/2
式中:Fg为滚动阻力,Ff为风阻,m为当前车辆质量,g为重力加速度,z为滚动阻力系数,ρ为空气密度,Cd为风阻系数,A为迎风面积。
可以发现,方式1更适合标准工况的仿真,如WLTC工况等,方式2更适合一般道路,尤其是在整车质量发生变化时,阻力的计算更精准。车体设计参数如表3所示。在此基础上,如果车辆行驶在坡路上,根据车辆的行驶方向,还需要再增加或减少坡度引起的行驶阻力部分,坡度阻力计算方法为:
Fp=mgsinα
式中:Fp为坡道阻力,α为当前路面与水平面的夹角。
首先在转毂试验室对车辆进行WLTC工况测试,记录相关测量数据,并提取加速踏板开度和制动主缸压力等信息,输入到驾驶员模型,在仿真平台进行相同的驾驶循环仿真,将仿真结果与试验结果的主要参数进行对比,以此验证模型的精度。图4所示为WLTC工况仿真结果与试验结果的车速对比,图5图6所示为循环车速差值及统计结果,图7所示为WLTC循环仿真结果与试验结果的变速器挡位对比。
通过对比分析可以得出,仿真与试验车速在WLTC工况下基本吻合,车速差值在±2 km/h范围内的工况占比超过99.5%,个别误差较大的点发生在加减速转换阶段,试验车辆在转毂上存在晃动导致,不影响换挡规律仿真。整个循环中变速器挡位仿真结果与试验数据基本一致,挡位相同的时间长度占比97.1%,两者最大偏差为1个挡位,占比低于3%,如图8所示。综合上述结果,当前模型的精度满足变速器换挡规律标定的需求。
变速器的换挡主要包含4种换挡类型,分别为动力升挡、滑行降挡、滑行升挡和动力降挡。在传统实车标定过程中,需要在不同的场景进行大量的道路试验。本文利用HiL虚拟标定平台,联合自动测试软件,可以同时关联控制器和模型参数,并针对性设计自动测试案例,大幅节约仿真时间和资源。
按照换挡规律标定原则,在HiL仿真平台上进行仿真并输出一版换挡规律标定数据,将标定数据导入实车TCU进行上述4种换挡类型的相关验证,经过试验验证或针对性调整即可作为最终标定数据。
在平直的道路上,车辆爬行稳定后,分别固定20%和100%加速踏板开度进行加速动力升挡试验并采集数据。经过分析,仿真结果与实车测试结果的各挡位升挡过程中对应的变速器输入轴转速具有良好的一致性,如图9图10所示。
由于试验工况及外界环境无法做到与仿真的设定及边界条件完全一致,结果存在一定的误差是正常现象。20%加速踏板开度原地加速过程中,仿真与试验的车速、变速器换挡点及变速器输入转速基本对应;100%加速踏板开度原地加速过程中,在加速初期,试验结果的车速比仿真结果稍快,在3挡后加速度基本相同,推测是道路阻力存在一定差异导致,不影响虚拟标定效果,动力升挡仿真结果满足换挡规律标定及评价标准。
以变速器8挡及车速75 km/h为初始状态进行滑行降挡试验,仿真结果与实车测试结果的各挡位滑行降挡对应的变速器输入轴转速具有良好的一致性,降挡点对应的最低转速基本相同,滑行过程车速和挡位基本吻合,如图11所示。滑行降挡仿真结果满足换挡规律标定及评价标准。
以变速器6挡及车速70 km/h为初始状态进行滑行升挡试验,仿真结果与实车测试结果的滑行升挡过程对应的变速器输入轴转速的变化速率具有良好的一致性,滑行升挡过程车速和变速器挡位基本吻合,如图12所示。滑行升挡仿真结果满足换挡规律标定及评价标准。
以变速器7挡及车速60 km/h为初始状态进行动力降挡加速试验,仿真结果与实车测试结果的动力降挡过程对应的变速器输入轴转速变化过程具有良好的一致性,动力降挡加速过程车速和变速器挡位变化基本吻合,如图13所示。动力降挡仿真结果满足换挡规律标定及评价标准。
本文基于虚拟标定平台对自动变速器换挡规律标定方法的精准度进行了相关研究,具体结论如下:
a.通过搭建模型在HiL平台上进行换挡规律仿真具有较高的精确度,联合自动化测试软件,能够快速完成换挡规律初步标定,实车上只需进行验证工作,可极大缩短开发周期,节省试验资源和费用;
b.实车标定受路况和交通法规的影响,一些极端工况难以测试,基于虚拟标定技术进行换挡规律标定可以弥补这一缺陷,更全面地覆盖测试工况,提高标定数据的完整性;
c.换挡规律标定在一定程度上依赖于主观感受,这是虚拟标定技术欠缺的,因此需要建立完善的换挡规律标定标准,保证换挡规律虚拟标定结果在实车上具有良好的主观驾驶感受。
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2024年第卷第9期
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doi: 10.20104/j.cnki.1674-6546.20230419
  • 首发时间:2025-11-25
  • 出版时间:2024-09-15
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    中国第一汽车股份有限公司研发总院, 长春 130013
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2种不同金属材料的力学参数

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Percentage of
total species (%)

Genus
种数
Number of
species
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Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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