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A detailed
system dynamics model is essential for the design and
calibration of the system controller. This paper introduces a
control-oriented full dynamic model for the dog clutch
engagement process that can be integrated with other system
dynamic models found in ground vehicle transmission systems,
such as the shifting mechanism system. This integrated model can
be used later to design a position controller of the shifting
mechanism's linkages to achieve a successful gearshift process.
The engagement process is divided into four main stages, each of
which has distinct dynamic behavior. The dynamics of each
discrete stage are analyzed and modeled, and then, the discrete
stages are integrated into one model using the hybrid automata
modeling technique. Hybrid automata enables us to describe the
continuous states within the discrete stages, which is better
than continuous time techniques. The possible interactions
between the sliding sleeve and the gear are analyzed and based
on these interactions, the transition paths' conditions between
these stages are established. The hybrid automata model
comprises four discrete stages and ten guards that govern the
transition between these stages. This model was simulated using
Simulink State flow. Three cases are considered to verify the
model, and the results showed that it could accurately capture
the continuous system dynamics despite four discrete states.
Furthermore, the transitions between the discrete states match
the possible transition paths and guards. |