考虑环境与摩擦因素的工程车辆起步自适应控制策略

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中图分类号：U463 文献标志码：A 文章编号：1000-582X（2025）07-027-11

Adaptive starting control strategy for engineering vehicles considering environmental and friction factors

SHENG Yunlong'，LIU Yonggang'，LIAO Yihua'，QING Datong'，LYU Chang² （1.State Key Laboratory of Mechanical Transmission for Advanced Equipment，Chongqing University， Chongqing 400044， P.R. China; 2. Xuzhou XCMG Driveline Technol Co.，Ltd.， Xuzhou， Jiangsu ，P.R. China）

Abstract：Enginering 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 wasused to obtain the reference speed corresponding to the reference torque of the clutch under diffrent environments. With considering the complexity ofthe 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，anda robustdata model ofline was obtained.At the lower levelof the control strategy，a clutch friction factor adaptivecontroller was designed to estimate theclutch friction factor inrealtime.Finally，the effectiveness of the adaptive start control method for enginering 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 coefcients and can adapt to diferent 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.

Keywords： engineering vehicle; starting control; optimal secondary controllr; deep neural network

由于工程车辆起步过程中离合器传递的转矩会发生突变，摩擦因数的瞬态变化较为剧烈，严重影响了离合器转矩的控制精度[]。（剩余10492字）