Observer-Based Backstepping Controller Design for Gear Shift Control of a Seamless Clutchless Two-Speed Transmission for Electric Vehicles

This paper proposes an observer-based backstepping controller design for gear shifting control of a seamless and clutchless two-speed transmission for electric vehicles. The state observer estimates the input and output torques of the transmission and the angular velocities of the gears, based on measuring the motor speed and the speed of the vehicle. Then, an observer-based backstepping controller is designed to provide seamless gear change while tracking the optimal trajectory corresponding to the minimum shifting time. Thereafter, the separation of the estimation and control is discussed. The driveline of an electric vehicle is modeled in MATLAB/Simulink by utilizing SimDriveLine library components to asses the performance of the designed observer and controller.