Triple-Step Method for Creep Speed Tracking Control of AMT Vehicles

When AMT vehicles are driven under crowded conditions, the vehicle speed should be kept at a low level. In order to improve the speed tracking performance under this condition, the transmission output shaft speed is adopted to control the vehicle speed. The triple-step method is applied in this paper to improve the accuracy of the clutch slip control. The controller is composed of steady-state-like control, reference dynamics based feedforward control and tracking error feedback control, which utilize the feedforward information of the reference tracking trajectory and the feedback information of the vehicle speed. The plant model is built in software AMESim and the controller is built in MATLAB/Simulink. After the controller is deduced, it is validated through the co-simulation under various scenarios. The simulation results show that the vehicle speed tracking performance can be guaranteed under all of the scenarios, the tracking response is fast enough and the tracking error is small, illustrate the accurate control of the clutch and the effectiveness of the controller can be verified.