AUTHOR(S)

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.