Abstract
A novel approach of the tracking control for synchronizer displacement is introduced in this paper. Based on modeling for the structure of synchronizer and shifting process, a shifting displacement tracking controller is designed by the Udwadia — Kalaba equation. The engagement rule of synchronizer combination sleeve is regarded as the trajectory constraint of the system, certain constraint force is imposed to follow this trajectory constraint, which could be obtained by the Udwadia-Kalaba equation without using Lagrange multiplier or other auxiliary variables. Specific comparative study with conventional PID control is discussed. Simulations and vehicle test results show that the shifting actuator can accurately track the desired trajectory determined by the upper layer control strategy, thus verify the effectiveness of the controller.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Chen, Y. H. (2005). Mechanical systems under servo constraints: The Lagrange’s approach. Mechatronics15, 3, 317–337.
Chen, Y. H. (2009). Constraint-following servo control design for mechanical systems. J. Vibration and Control15, 3, 369–389.
Cheng, X. (2014). Dynamics modeling and control strategy for the shifting process of coupled motor-transmission system. M. S. Dissertation. Tsinghua University. China.
Cominos, P. and Munro, N. (2002). PID controllers: Recent tuning methods and design to specification. IEE Proc. -Control Theory and Applications149, 1, 46–53.
Lin, S. (2013). Research on Gearshift Control for a Direct-drive Automated Mechanical Transmission. Ph. D. Dissertation. Nanjing University of Science & Technology. Nanjing, China.
Lin, S., Chang, S. and Li, B. (2014). Gearshift control system development for direct-drive automated manual transmission based on a novel electromagnetic actuator. Mechatronics24, 8, 1214–1222.
Rigatos, G. G, Tzafestas, C. S. and Tzafestas, S. G. (2000). Mobile robot motion control in partially unknown environments using a sliding-mode fuzzy-logic controller. Robotics and Autonomous Systems33, 1, 1–11.
Schutte, A. D. (2010). Permissible control of general constrained mechanical systems. J. Franklin Institute347, 1, 208–227.
Sun, H., Chen, Y. H. and Zhao, H. (2018b). Adaptive robust control methodology for active roll control system with uncertainty. Nonlinear Dynamics92, 2, 359–371.
Sun, H., Zhao, H., Huang, K., Qiu, M., Zhen, S. and Chen, Y.-H. (2018a). A fuzzy approach for optimal robust control design of an automotive electronic throttle system. IEEE Trans. Fuzzy Systems26, 2, 694–704.
Udwadia, F. E. (2003). A new perspective on the tracking control of nonlinear structural and mechanical systems. Proc. Royal Society A459, 2035, 1783–1800.
Udwadia, F. E. and Kalaba, R. E. (2002). On the foundations of analytical dynamics. Int. J. Non-Linear Mechanics37, 6, 1079–1090.
Udwadia, F. E. and Kalaba, R. E. (1992). A new perspective on constrained motion. Proc. Royal Society A439, 1906, 407–410.
Udwadia, F. E. and Kalaba, R. E. (1996). Analytical Dynamics: A New Approach. Cambridge University Press. Cambridge, UK.
Wang, X., Li, L., He, K., Liu, Y. and Liu, C. (2018). Position and force switching control for gear engagement of automated manual transmission gearshift process. J. Dynamic Systems Measurement and Control, 140, 8, 081010.
Zhang, B., Zhen, S., Zhao, H., Huang, K., Deng, B. and Chen, Y.-H. (2018). A novel study on Kepler’s law and inverse square law of gravitation. European J. Physics, 36, 3, 035018.
Zhang, X., Chen, Y. and Ping, Z. (2014). Mechanical manipulator tracking control based on Udwadia and Kalaba equation. J. Changan University (Natural Science Edition)34, 1, 115–119.
Zhao, X. (2017). Control Methods for Autonomous Vehicle Platoon System Invoking Swarm Intelligence. Ph. D. Dissertation. Hefei University of Technology. Hefei, China.
Zhao, Z., Wang, Q., Chen, H., Diao, W. and Zhang, T. (2013). Fuzzy time decision and model-based torque coordinating control of shifting process for dry dual clutch transmission. J. Mechanical Engineering49, 12, 92–108.
Zhu, X. (2015). Robust Control and State Estimation of E-drive System for Pure Electric Vehicles. Ph. D. Dissertation. Northwestern Polytechnical University. Xi’an, China.
Acknowledgement
This research was supported by National Key R&D Program of China (2017YFB0103201 and 2017YFB0103204) and the Fundamental Research Funds for the Central Universities of China (PA2019GDZC0101).
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Zhang, Y., Zhao, H., Qiu, M. et al. Model-Based Control of Synchronizer Shifting Process for Trajectory Tracking Control. Int.J Automot. Technol. 21, 943–952 (2020). https://doi.org/10.1007/s12239-020-0090-z
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-020-0090-z