Extensible Optimization Control of Hybrid Transmission Switching Process for Off-road Vehicles

doi:10.12068/j.issn.1005-3026.2025.20239043

Abstract

Abstract:

Hybrid off-road vehicles include multiple operating modes， and the inappropriate control strategies will impact the smoothness and clutch life when vehicles switch operating modes. Taking the power split hybrid gearbox as the research object， the transformation relationship of contradictory features is established using the extensible control algorithm. The contradictory feature quantities are transformed by adjusting the weight matrix of model predictive control （MPC） to interfere with the extensible controller. The simulation model of the transmission system of off-road vehicles is established， and the results show that the jerk of the vehicle in the mode switching process using the extensible controller is less than 10 m/s³， which is about 20% lower compared with MPC. The friction work of clutches is about 18 kJ， and the jerk and sliding work effect are improved compared with the traditional MPC. Extensible control improves the smoothness of the mode switching process and enhances the quality of mode switching for off-road vehicles.

Key words: hybrid transmission, model predictive control, extensible control, mode switching, friction work

CLC Number:

TD 57

Xin-xin ZHAO, Bing LI, Jue YANG. Extensible Optimization Control of Hybrid Transmission Switching Process for Off-road Vehicles[J]. Journal of Northeastern University(Natural Science), 2025, 46(3): 106-114.

Figures/Tables 14

Fig.1 Structure of the hybrid transmission

Table 1 Vehicle related parameters

总质量/t	车轮动态半径/m	主减速器减速比	空气阻力系数	迎风面积/m²	滚动阻力系数	电池容量/Ah
113	0.837	22.07	0.65	7.5	0.025	158

Fig.2 Solving process of dynamic equations

Fig.3 Working mode of the clutch friction model

Table 3 States of the clutch in different modes

模式	离合器CL1	离合器CL2	制动器BR1	制动器BR2
1	0	0	1	1
2	1	0	0	1
3	0	1	1	0
4	1	1	0	0

Table 4 Model parameters for controller design

制动器BR1等效

作用半径R/m

制动器BR1

摩擦副数N

制动器BR1

面积A_c/m²

电磁阀的时间

常数 $τ c v$ /s

电磁阀的增益

$K c v$ /(MPa·A^-1)

制动器片的

摩擦因子 $μ$

Table 4 Model parameters for controller design

制动器BR1等效

作用半径R/m

制动器BR1

摩擦副数N

制动器BR1

面积A_c/m²

电磁阀的时间

常数 $τ c v$ /s

电磁阀的增益

$K c v$ /(MPa·A^-1)

制动器片的

摩擦因子 $μ$

0.098

0.39

0.04

1.0

0.13

Fig.4 Reference trajectory of clutch speed

Fig.5 Speed of clutch based on MPC

Fig.6 Simulation results of the mode switching process based on MPC

Fig.7 Overall framework of extendable adjustment in the mode switching control

Fig.8 Tracking error of MPC control in the mode switching process

Fig.9 One-dimensional extensible set

Fig.10 Comparison of clutch speed with extensible control and MPC

Fig.11 Comparison of extensible control and modelpredictive control results

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