Rat tooth clutch combined front motor control method and system

Abstract

This invention discloses a method and system for controlling the motor before engagement of a toothed clutch. The method includes the following steps: establishing a state prediction model of the driving disc of the toothed clutch; obtaining the rotational speed and angular acceleration of the driven disc of the toothed clutch at the current moment, as well as the rotational speed, angular acceleration, and torque of the motor output shaft; determining whether the speed error and angular acceleration error between the driving and driven discs of the toothed clutch meet the engagement requirements; if they do, engagement is initiated, and the method ends; otherwise, proceed to the next step; designing the motor control law for the current moment; based on the motor control law, obtaining the target torque for motor control at the current moment, controlling it to be the motor output torque, and returning to the second step at the next moment, repeating the cycle. This comprehensively considers the motion trends of the driving and driven discs of the clutch, mitigating engagement impact and vibration.

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