基于动态规划及BP神经网络的重型拖拉机自动换挡策略优化

    Optimization of automatic shifting strategy for heavy tractors based on dynamic programming and BP neural network

    • 摘要: 重型拖拉机全动力换挡变速箱在田间复杂作业环境中换挡频繁、可靠性差;在道路运输工况中,高挡位利用率低燃油经济性差。为解决上述问题,该研究提出一种基于动态规划(dynamic programming, DP)算法与反向传播神经网络(back propagation neural network, BP)协同优化的自动换挡控制策略。首先构建以油门开度、车速及田间作业滑转率为参数的换挡规则;采用DP算法,以燃油经济性和换挡次数为优化目标,分别求解田间犁耕作业和道路运输工况下的最优换挡序列;由于DP算法挡位寻优实时性差,利用优化所得的换挡参数与最佳挡位数据训练BP神经网络模型,实现基于神经网络的实时挡位控制。基于AMEsim和Simulink仿真平台构建重型拖拉机传动系统模型及挡位控制模型,进行系统仿真验证。结果表明:相较于基于规则的换挡策略,DP离线求解的犁耕工况换挡次数减少105次,油耗降低5.48%;道路运输工况换挡减少5次,油耗降低15.80%。在犁耕测试工况下,提出的BP换挡策略油耗仅比全局最优DP高0.7%;道路运输工况下,BP策略实时控制油耗比全局最优DP高4.4%,换挡次数仅增加4次,换挡结果与离线最优解差距较小,验证了该策略的合理性与可行性。本文建立的动态规划DP与神经网络BP的协同优化框架,解决了传统策略局部最优与实时性难以兼顾的矛盾,为农业装备智能化提供可实施的技术方案。

       

      Abstract: The full power shift gearbox has become the key technology to improve the operation efficiency of heavy tractors. However, the traditional rule-based shift strategy has the inherent defect of insufficient global optimization ability under multi-gear overlap conditions. In heavy tractors, frequent shifting and high fuel consumption caused by the overlap of adjacent gear speed ranges seriously restrict the intelligent development of agricultural equipment. This method relies on expert experience and cannot achieve the optimal working conditions. There are still research gaps in real-time optimization and global optimal collaborative optimization. This study proposed a compound shift strategy integrating dynamic programming (DP) for global optimization and BP neural network (BPNN) for real-time prediction. A working condition classification mechanism was established, dividing shift control into two distinct modes based on operational characteristics: a field mode (utilizing throttle, speed, and slip rate) and a road mode (utilizing throttle and speed). A dynamic programming bi-level optimization model was constructed. Prioritizing fuel economy as the core objective, the model incorporated a shift frequency penalty function. Offline optimization was performed using the real-vehicle plow load spectrum and road transportation conditions modeled on suburban cycle driving profiles. A double-hidden-layer BP neural network gear prediction controller was trained and developed using the DP offline optimization dataset. Validation was conducted via an AMESim-MATLAB/Simulink co-simulation platform. Results demonstrated that the shift strategy met the power demands of the working conditions under the DP offline solution. For plowing conditions, shift frequency decreased by 50.24% and fuel consumption by 5.48%. For road transportation conditions, shift frequency decreased by 13.89% and fuel consumption by 15.80%. In plowing simulations, both DP global optimization and BPNN real-time control effectively tracked vehicle speed and satisfied power demand. However, BPNN maintained a higher minimum gear at low speed and exhibited more frequent shifting. DP achieved significant fuel savings by utilizing higher gears during high-speed segments, while BPNN gained an instantaneous advantage by maintaining higher gears at low speed, albeit resulting in slightly higher total fuel consumption. Under road transportation conditions, both methods also tracked speed accurately. DP utilized the available 24 gears more fully during high-speed sections with fewer shifts. Although the driving resistance was low, placing the engine outside its most economical zone, DP secured more efficient operating points. By optimizing high-gear usage in multiple high-speed segments, DP achieved significantly lower final fuel consumption than BPNN. Collectively, the results indicated that DP attained lower fuel consumption by optimizing gear selection and shift smoothness using global information. While the BPNN real-time strategy showed a gap in high-speed gear utilization and fuel economy compared to DP, the fuel consumption difference between the two strategies across both working conditions was limited, and the increase in shift frequency for BPNN was manageable. This verified that the BPNN strategy met real-time requirements while maintaining acceptable economy. This study successfully integrated global gear optimization with real-time adaptive decision-making. It overcame the limitations of traditional multi-condition strategies reliant on manual calibration rules and the subjective experience dependence of adaptive fuzzy control, providing a valuable technical pathway for intelligent control in agricultural mechanical transmission systems.

       

    /

    返回文章
    返回