Abstract
A direct-drive gear shift module, which is based on electromagnetic linear actuator (EMLA), is introduced to improve the performance of the shift-by-wire system in automated mechanical transmission. The research background and approaches are first proposed. Then, the structure, characteristics and dynamic model of the EMLA are presented. In order to improve the shift quality, the position and force modes of the EMLA are divided to realize piecewise control strategy for the gear shift process. A cascade two degree of freedom compound controller is designed for these two modes. Specifically, the feedforward controller is based on the differential flatness to achieve high-response tracking performance and the feedback controller is based on the linear extended state observer to ensure robustness against plant uncertainties and disturbances. Simulation and experiment results proved that this cascade compound controller is effective, the duration of the whole shifting process is minimized, and the shift quality is significantly improved. The direct-drive gear shift module is technically feasible.
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