基于EKF的电动车两换挡执行机构位置控制研究
Research on Position Control of Two Shift Actuators of EMV Based on EKF

两挡AMT换挡执行机构由于受到霍尔传感器的精度低的限制，使两挡换挡执行机构的换挡准确度不够高，提出了一种基于EKF融合霍尔传感器信号的换挡位置状态估计方法。本文使用直流电机作为动力源，使用蜗轮蜗杆减速机构以及换挡座将电机的旋转运动转换成轴向运动，利用位置、转速、电流三闭环控制策略，采用PID控制算法进行执行机构的控制，对换挡执行机构系统进行建模仿真和实验分析，与传统单个PID控制相比，EKF融合霍尔传感器的PID控制具有更好的位置精度。
Limited by the low accuracy of Hall sensor, the shifting accuracy of two-gear AMT gear shifting actuator is not high enough. A shifting position state estimation method based on EKF fusion Hall sensor signal is proposed. In this paper, DC motor is used as the power source, worm gear reducer and shifting seat are used to convert the rotating motion of the motor into axial motion, and PID control algorithm is adopted to control the actuator using three close d-loop control strategies of position, speed and current, and modeling and simulation of the shifting actuator system are carried out. Compared with the traditional single PID control, The PID control of EKF fusion Hall sensor has better position accuracy.