Active Disturbance Rejection Control for Selecting and Shifting Motor of Automated Mechanical Transmission

摘要

The control strategy of shifting actuators is the most crucial part in the development of automated mechanical transmission (AMT) system. To solve problems such as large workload of parameters tuning and worse disturbance-rejecting ability under traditional PID for selecting and shifting gear in present industry, a new strategy based on active disturbance rejection control (ADRC) was proposed. The extended state observer (ESO) was used to observe and compensate total disturbances in real time to achieve precise closed-loop control for shifting motor position. The Hardware-In-the-Loop (HIL) experiments show that the speed of selecting actuator moving to target position under ADRC is 14.3% faster than that of PID, and the position deviation of selecting actuator is 0.9mm under ADRC with an external disturbance of 1N·m added, which is 59.1% less than that under PID. And the target gear tracking test indicates that the total shifting time under ADRC can be reduced by 2.37% to 5.08% compared with PID. This strategy has better control accuracy and robustness under load mutation condition compared to traditional PID.