Method of controlling a dog clutch

A method of controlling a dog clutch configured to engage at least one gear of a gearbox by a gear actuator having a DC motor, the DC motor configured to move the dog clutch via an actuator arm, the method comprising:

• supplying the DC motor with a pulse width modulated voltage having a duty cycle provided by a control algorithm, the control algorithm comprising a trajectory planner generating a desired position of the actuator arm based on a 4th order trajectory planning algorithm and a motion controller for tracking a desired position of the actuator arm, the 4th order trajectory planning algorithm includes integrating a derived profile four time;
• and
• moving the dog clutch by the DC motor via an actuator arm based on the pulse width modulation voltage, the dog clutch configured to engage the at least one gear,
• wherein the motion controller applies a sliding mode control, wherein the sliding mode control defines a sliding surface.

An arrangement comprising:

• a gearbox comprising a number of gears and a dog clutch configured to engage at least one of the gears);
• and
• a gear actuator comprising a DC motor configured to move the dog clutch via an actuator arm and configured to control the dog clutch executing a method, the method comprising:
• supplying the DC motor with a pulse width modulated voltage having a duty cycle provided by a control algorithm, the control algorithm comprising a trajectory planner generating a desired position of the actuator arm based on a 4th order trajectory planning algorithm and a motion controller based for tracking a desired position of the actuator arm, the 4th order trajectory planning algorithm includes integrating a derived profile four time;
• and
• moving the dog clutch by the DC motor via an actuator arm based on the pulse width modulation voltage.