Control of Mechanical Automatic Transmission Based on Modified ADRC

In order to improve the tracking performance and disturbance suppression performance of the linear shift actuator, a displacement and current dual loop controller was designed using a cascade control method. This transformed the traditional displacement, speed, and current three loop control system into a position current dual loop control, simplified system parameter tuning, and improved the dynamic response speed of the system. Using known system model information to construct a new extended state observer called MESO, a displacement current cascade control system controlled by MADRC was designed. The simulation results show that the robustness of the system in this paper is enhanced under heavy load disturbances, and the static error within the set time is close to zero. This lays the foundation for further research on improving shifting quality through the design of shifting displacement curves and timing control.