Tracking control and robustness study of shifting process


  • Xin-xin ZHAO School of mechanical engineering, University of science and technology Beijing, Beijing, China Author
  • Chao GUAN School of mechanical engineering, University of science and technology Beijing, Beijing, China Author



heavy vehicles, automatic transmission, shift quality, PID tracking control, Monte Carlo method


Heavy dump vehicles are usually working with big load changes and bad work environment, thus change the friction performance of transmission clutches, as well as great affect the shift quality seriously, which influence the vehicle performance. Many researchers developed a lot to design a useful automatic transmission control system. Using PID tracking control and Monte Carlo method, the controller based on an dynamic model was set up to analyze the shifting process of automatic transmission and its robustness in this paper. The shift process was divided into four stages, low-gear phase, torque phase, inertia phase and high-gear phase. The model presents the process from the first gear to the second gear when the torque has big change. Since the jerk and the friction work of clutch are both related to the speed of clutch which was easier to control, it was chose as the target to control the oil pressure for satisfying the requirement of shift quality. The simulation software, Maplesim and Simulink, were used to build the vehicle model and shifting controller for simulation under different working conditions, and the maximum jerk was changed from 34 m/s3 to 12 m/s3 after the optimization. In this paper the Monte Carlo has been used to quantize and evaluate the robustness of the closed-loop system for the friction coefficients and output torque of turbine variation leading by the friction feature parameters and throttle angle changed. Monte Carlo method was used to analyze the effectiveness and robustness of PID controller, which proves that it has good control effect when the throttle is ongoing minor fluctuations. When the throttle is full opening, a quadratic optimal controller based on disturbance is designed by the method of multi-objective optimization. When it changes within 20 percent, PID controller was designed under the guidance of tracking thoughts. The results also show that the controller could still obtain better effect when the friction coefficient ranged from -40 % to 40 % as well as engine torque changed from -20 % to 20 %, which indicates the robustness of controller.


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Original articles

How to Cite

ZHAO, X.- xin, & GUAN, C. (2018). Tracking control and robustness study of shifting process. Archives of Transport, 46(2), 97-104.


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