Abstract: In this paper, the linear push-rod shift mechanism of target vehicles is transformed into automatic shift. In the mechanical structure, an electric push rod is adopted to push the shift lever for shift operation. By precisely controlling the expansion length of the push rod motor, the shift rod can be freely switched between R, N and D gears. A special controller is developed, which can realize the forward and reverse control of the pusher motor, and can collect the displacement data of the stretch length of the pusher motor in real time. A complete set of logic control software is designed, which can realize the closed-loop control of gear position by receiving the target gear position command and the current gear state feedback continuously. The results show that the system is stable, reliable and meets the working requirements.

Key words: Target vehicle; Gear shifting mechanism; Automatic shift control; Controller; Control software

摘要： 文章对靶车直线推杆式挂挡机构进行改造，实现了自动挂挡。机械结构上采用了电动 推杆的方式推动挂挡杆进行挂挡操作，通过精确控制推杆电机的伸缩长度，实现换挡杆在 R 挡，N 挡和 D 挡位之间的自由切换。开发了专用的控制器，可控制电机正、反转和实时位移 数据采集功能。设计了一套完整的逻辑控制软件，通过不断地接收目标挡位指令和当前挡位 状态反馈，可实现挡位的闭环控制。结果表明该系统稳定、可靠，满足工作要求。

关键词: 靶车；挂挡机构；自动换挡控制；控制器；控制软件