【摘要】 功率分流混合动力系统在离合器状态切换与动力源转矩波动过程中易发生低频扭振，尤其是轮胎滑移特性的非线性摩擦行为对传动系统引入阻尼，改变模式切换扭振特性。基于杠杆法构建系统模型，引入非线性轮胎模型，研究不同附着系数路面下考虑轮胎滑移的模式切换扭振动力学特性。面向不同路面附着条件下的高品质模式切换扭振控制需求，将路面附着条件的不确定性描述为有界不确定性，设计自适应非奇异快速终端滑模控制器(ANFTSMC),有效应对轮胎滑移参数摄动及外界扰动影响。仿真结果表明，该控制策略在沥青路面和冰雪路面使模式切换最大冲击度得到明显的改善，缩短了模式切换时间，表现出更好的自适应能力，显著提升了不同路面附着下的整车模式切换品质。更多还原

【Abstract】 The power-split hybrid electric system is susceptible to low-frequency torsional vibration during clutch state transitions and power source torque fluctuations. In particular, the nonlinear friction behavior of tire slip introduces damping into the drivetrain, altering the torsional vibration characteristics during mode switching. This paper employs a lever-based modeling approach, integrating a nonlinear tire model to investigate the torsional vibration dynamics of mode switching under varied road adhesion conditions, with a focus on tire slip behavior. To meet the requirements for high-quality mode switching across different road surfaces, the uncertainty of road adhesion is characterized as bounded uncertainty. An adaptive non-singular fast terminal sliding mode controller(ANFTSMC) is proposed to effectively address the disturbances caused by tire slip parameter variations and external influences. Simulation results demonstrate the proposed control strategy markedly reduces the maximum jerk during mode switching on both asphalt and icy road surfaces. Moreover, it cuts the mode switching time and exhibits enhanced adaptive capabilities, leading to a notable improvement in overall vehicle mode switching quality under varied road adhesion conditions.更多还原