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Research Papers

Position and Force Switching Control for Gear Engagement of Automated Manual Transmission Gear-Shift Process

[+] Author and Article Information
Xiangyu Wang

The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: 18810567146@163.com

Liang Li

The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China;
The Collaborative Innovation Center of Electric
Vehicles in Beijing,
Beijing 100081, China
e-mail: liangl@mail.tsinghua.edu.cn

Kai He

The State Key Laboratory of Automotive Safety
and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: hek15@mails.tsinghua.edu.cn

Yahui Liu

The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: liuyahui@tsinghua.edu.cn

Congzhi Liu

The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: 15281063684@163.com

1Corresponding authors.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received April 15, 2017; final manuscript received December 11, 2017; published online March 13, 2018. Assoc. Editor: Tesheng Hsiao.

J. Dyn. Sys., Meas., Control 140(8), 081010 (Mar 13, 2018) (9 pages) Paper No: DS-17-1194; doi: 10.1115/1.4039184 History: Received April 15, 2017; Revised December 11, 2017

Gear-shift control is essential in automated manual transmission (AMT) systems, because it has a significant influence on comfort of vehicle and lifespan of AMT. Gear engagement process is the most important part of gear-shift process, and it has multistage and nonlinear characteristics, which make it difficult to realize smooth and fast control. This paper proposes a position and force switching control scheme for gear engagement. At the beginning and the end of gear engagement process, the combination sleeve is supposed to reach the desired position quickly with a small resistance for which a position controller is designed by using sliding mode control (SMC) method. A force controller is designed for the midsynchronizing stage, because the combination sleeve is blocked at this stage until the synchronization is finished. Simulations and experiments are carried out to show that gear-shift quality is improved and gear-shift shock is reduced greatly by the proposed method.

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Figures

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Fig. 2

Structure of gear-shift mechanism

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Fig. 1

Schematic graph of actuator transmission

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Fig. 3

Simulation results of gear engagement

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Fig. 5

Comparisons between simulation and experiment

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Fig. 4

Experiment and results for DC motor parameters

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Fig. 6

Desired position of gear engagement process

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Fig. 14

Experiment results of gear engagement with second shock

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Fig. 9

Results comparison of SMC with and without SMO

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Fig. 10

Results of load torque estimation

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Fig. 11

Gear engagement test bench

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Fig. 12

Experiment results of gear engagement with 100% PWM

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Fig. 13

Experiment results of gear engagement with switching control scheme (PID and SMC)

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Fig. 7

Shift displacement, motor speed, and shift force with three kinds of control methods

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Fig. 8

Simulations results with uncertain synchronizing position: (a) PID method and (b) SMC method

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