In this paper, a coordinated driving motor speed and shifting motor displacement control strategy is proposed for the integrated motor-transmission (IMT) system during the gearshift process. For active speed synchronization of IMT system, speed reference to driving motor is redesigned by using a polynomial speed trajectory. Compared with conventional step speed change reference, it can help improve the ride performance of IMT system. While in the gear release as well as engagement phase, a robust optimal preview controller is developed for the shifting motor to realize rapid and reliable position tracking of the sleeve in spite of load disturbance. Based on real time value of the driving motor speed and also sleeve axial position, proposed speed and position controllers are coordinated in plan during the whole gearshift process. Co-simulations with Matlab/Simulink and AMEsim are conducted to demonstrate dynamical characteristics of the IMT system during the whole gear shifting process, in which a two-layer switching logic is built by using Matlab/Stateflow. Comparative simulation tests are carried out to show the effectiveness as well as performance of proposed control strategies.

本文提出了一种用于变速过程中的集成式电动机-变速箱（IMT）系统的协调驱动电动机速度和变速电动机排量控制策略。对于IMT系统的主动速度同步，通过使用多项式速度轨迹来重新设计驱动电机的速度参考。与传统的有级变速参考相比，它可以帮助改善IMT系统的行驶性能。在换档和啮合阶段，为变速马达开发了一个强大的最佳预览控制器，即使负载受到干扰，也能实现套筒的快速，可靠的位置跟踪。根据驱动电动机速度以及套筒轴向位置的实时值，在整个变速过程中，计划中的速度和位置控制器将在计划中进行协调。进行了与Matlab / Simulink和AMEsim的协同仿真，以证明IMT系统在整个变速过程中的动态特性，其中通过使用Matlab / Stateflow构建了两层切换逻辑。进行了比较模拟测试，以显示所提出的控制策略的有效性和性能。