Cooperative Motor Control for Dog Clutch Engagement of Electric Vehicles Based on Smith Predictor

Multiple speed transmissions are applied to electric vehicles gradually. A reverse gear mechanism using dog clutch is proposed for the inverse Automated Manual Transmission (I-AMT), and the coordination controller of the driving motor and the dog clutch is designed. Considering the characteristic of time delay in the motor control system, a control strategy based on Smith predictor is derived to increase the tracking ability and further improve the dynamic performance of the closed-loop control system. The experiment shows that compared with PID control strategy, those with Smith predictor is better in shifting comfort and reducing the machine wearing of dog clutch.