Shift robust control during inertia phase for random disturbance load

The automatic transmission of earthmoving machinery generally has problems of shifting shock and poor control robustness. Low-frequency high-energy random loads and large-space model uncertainties are the main causes of these problems. Therefore, we considered a type of wheel loader automatic transmission as the research object and propose a robust control method for the shifting inertia phase of the earthmoving machinery automatic transmission. The control method includes a robust controller Kb, a disturbance compensation controller Kd and a feedforward compensator Kf. The robust controller Kb is designed by μ synthesis method to resist the uncertainties of parameters and structure and guarantee the output speed to track the reference input. A load dynamic estimation method for random disturbance load of automatic transmission is proposed, which improves the compensation effect of disturbance compensation controller Kd. The feedforward compensator Kf is used to eliminate the influence of the reference input on the system. The above control methods were applied to the whole machine simulation platform of a certain type of wheel loader, and the random disturbance load of the measured under real working conditions was taken as input load. Under the conditions of no-load, half-load and full load, the control method has good smoothness and strong robustness. This paper has reference value for solving the inertial phase shift robust control of transmission under random disturbance load.