电动客车 AMT 换挡执行机构状态估计及参数辨识

In order to improve the shifting performance when the parameters of the automatic transmission shifting actuator are time-varying，a hierarchical state estimation and parameter identification method based on the nonlinear H_∞ algorithm is proposed，considering both the highly nonlinear system model and the unknown system noise characteristics. Firstly，the problem of time-varying parameters of the shifting actuator is found through experi⁃ ments，and a nonlinear model is established for the shifting actuator. Then，the hierarchical state estimation layer and parameter identification layer are designed，both of which are based on the nonlinear H_∞ algorithm. The upper estimation layer estimates the state of the actuator and transfers the result to the lower identification layer；the lower identification layer applies the state results as the measurement，and uses the system model as the measurement equation to identify the system parameters. Then，the cooperative operation of the two layers estimate the state of the shifting actuator，and identifies the structural and electrical performance parameters. Finally，a state estimation and parameter identification process based on automatic calibration is designed，which realizes the parameter identifica⁃ tion of the shift actuator while calibrating and correcting the shift position value. The test results show that the hierar⁃ chical state estimation and parameter identification method proposed in this paper can accurately estimate and iden⁃ tify the state and parameters of the shifting actuator. After modifying the parameters，the shifting performance of the system is improved.