LAUSR

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.