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基于數(shù)字孿生的動力換擋拖拉機(jī)換擋策略研究
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智能農(nóng)業(yè)動力裝備全國重點實驗室開放項目(SKLIAPE2023016)和中國農(nóng)業(yè)大學(xué)雙一流科研項目(2023AC004)


Shift Strategy for Powershift Tractors Based on Digital Twins
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    摘要:

    發(fā)動機(jī)性能變化和牽引阻力波動等時變因素對大功率動力換擋拖拉機(jī)(PST)換擋策略的適應(yīng)性具有巨大威脅,。為了構(gòu)建動態(tài)精準(zhǔn)模型和應(yīng)對負(fù)載波動,,以提高PST換擋策略的適應(yīng)性,,提出了一種基于數(shù)字孿生的自適應(yīng)換擋策略,。一方面,,將發(fā)動機(jī)狀態(tài)變化視作內(nèi)部干擾,,基于深度確定性策略梯度(DDPG)算法對虛擬PST發(fā)動機(jī)進(jìn)行實時校準(zhǔn),,結(jié)合PST機(jī)理模型,,實現(xiàn)對PST的實時動態(tài)精準(zhǔn)建模,。另一方面,,將牽引阻力波動視作外部干擾,提出基于深度Q網(wǎng)絡(luò)(DQN)的換擋策略生成方法,。在實時動態(tài)精準(zhǔn)建模和換擋策略自動生成兩個機(jī)制的協(xié)同作用下,,實現(xiàn)換擋策略的自適應(yīng)調(diào)整。最后,,開展了犁耕工況下的虛擬PST訓(xùn)練仿真及本文方法與模糊自適應(yīng)方法的車速跟蹤對比試驗,。結(jié)果表明,發(fā)動機(jī)轉(zhuǎn)矩和燃油消耗率跟蹤誤差均值不超過7.28N·m和1.55g/(kW·h),,實現(xiàn)了對物理PST的動態(tài)精準(zhǔn)建模,。在長時間使用之后,發(fā)動機(jī)和牽引阻力的變化導(dǎo)致模糊自適應(yīng)方法的換擋點和模糊規(guī)則不再完全適用,換擋表現(xiàn)逐漸變差,,而本文方法的換擋表現(xiàn)和車速跟蹤效果全程良好,,其車速跟蹤誤差均值、燃油消耗率均值和總換擋次數(shù)分別為0.0125m/s,、229.76g/(kW·h)和42,,比模糊自適應(yīng)方法分別減小0.91%、11.14%,、34.38%,,驗證了本文方法的適應(yīng)性和優(yōu)越性。

    Abstract:

    Engine performance variations and traction fluctuations have a great impact on the adaptability of shift strategies for high-power power shift tractors (PSTs). In order to construct a dynamic accurate model and deal with traction fluctuation to improve the adaptability of PST shift strategy, an adaptive shift strategy development method was proposed based on digital twins. On one hand, the engine state change was regarded as an internal disturbance, and the virtual PST engine was calibrated in real time based on the deep deterministic strategy gradient algorithm, which was combined with the PST mechanism model to realize the real-time dynamic and accurate modeling of the PST. On the other hand, the traction fluctuation was treated as an external disturbance, and a deep Q-network was used to automatically generate the shift strategy. Finally, the virtual PST training simulation under plowing conditions and the speed tracking comparison test between the proposed method and the fuzzy adaptive method were carried out. The results showed that the average tracking errors of engine torque and fuel consumption rate did not exceed 7.28N·m and 1.55g/(kW·h), and dynamic and accurate modeling of physical PST was achieved. After using for a long time, the changes of engine and traction force caused that the shift points and fuzzy rules of the fuzzy adaptive method were no longer fully applicable, and the shift performance was gradually deteriorated. In contrast, the shift performance and speed tracking effect of the proposed method were good throughout, and the mean value of speed tracking error, mean value of fuel consumption rate, and total number of shifts were 0.0125m/s, 229.76g/(kW·h),and 42, respectively, which were reduced by 0.91%, 11.14%, and 34.38% compared with those of the fuzzy adaptive method. The adaptability and superiority of the proposed method were verified.

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張延安,王東青,杜岳峰,吳志康,郭曉博,高遼遠(yuǎn).基于數(shù)字孿生的動力換擋拖拉機(jī)換擋策略研究[J].農(nóng)業(yè)機(jī)械學(xué)報,2024,55(5):440-448. ZHANG Yan’an, WANG Dongqing, DU Yuefeng, WU Zhikang, GUO Xiaobo, GAO Liaoyuan. Shift Strategy for Powershift Tractors Based on Digital Twins[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(5):440-448.

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  • 收稿日期:2024-02-21
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  • 在線發(fā)布日期: 2024-03-09
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