关键词: AT；拉格朗日方程；动力学方程；换挡过程控制；转速线图

Abstract: In order to study the control method of automatic transmission (AT) shift process, this paper takes ZF9AT transmission as the research object, establishes the dynamic equation of AT shift process based on the lagrange equation, deduces the feedforward torque calculation method of shift process, the speed line diagram of component AT, and based on this, develop a gear shift control strategy. Through the hardware in the loop simulation test, the correctness of dynamic equation is verified, and result displays the developed control strategy can control the change of turbine speed and obtain good shift quality, which has a good guiding for the independent development of AT controller.

Key words: AT; Lagrange equation; Dynamics equation; Shift process control; Speed line diagram