A Powertrain LQR-Torque Compensator with Backlash Handling

Templin, Peter; Egardt, Bo

doi:10.2516/ogst/2011147

Cited by 38 publications

(18 citation statements)

References 4 publications

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“…For most instances, the motor is directly connected to the gearbox of drivetrain without clutches or torque converter. Thus, the powertrain is The associate editor coordinating the review of this manuscript and approving it for publication was Huanqing Wang. becoming more sensitive to the oscillation caused by the driveshaft flexibility and the backlash [5], [6]. In order to optimize the powertrain system's oscillation damping performance, plenty of methods have been carried out.…”

Section: Introductionmentioning

confidence: 99%

Robust Oscillation Suppression Control of Electrified Powertrain System Considering Mechanical-Electric-Network Effects

Zhu

et al. 2020

IEEE Access

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This paper works on the oscillation of electrified powertrain system in an integrated manner where combined mechanical-electric-network effects are all taking into consideration, and a robust oscillation controller is proposed to suppress the effects-caused oscillation and to maintain the system stability. An integrated model is developed in which driving motor, drivetrain and communication network are all included. Thus, torque ripples in the driving motor, nonlinear gear backlash as well as driveshaft flexibility in the drivetrain and network-induced delays that may cause powertrain system oscillation can be all considered. In order to dealing with the coupling effects of network-induced delays and event-driven manner of the controller nodes, a delay-free discrete model is further built via polytopic inclusion approach and system augmentation technique. An energy-to-peak performance based robust controller is proposed to ensure the torsional oscillation damping as well as vehicle speed tracking performance. During backlash mode, as the driving motor and the load are decoupled, a sliding mode compensator is further adopted to restrain the torsional oscillation. The stability of electrified powertrain control system is ensured by using Lyapunov theory, and the controller gain is obtained by solving a set of linear matrix inequalities (LMIs). Comparative simulation tests are carried out by using Matlab/Simulink in which a delicate controller area network (CAN) model is developed via SimEvent. The combined mechanical-electric-networked effects on torsional oscillation are demonstrated during the simulation tests, while the performance of the proposed controller is well verified. INDEX TERMS Electrified powertrain, nonlinear gear backlash, network-induced delays, robust energy-topeak controller, sliding mode compensator.

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Section: Introductionmentioning

confidence: 99%

Robust Oscillation Suppression Control of Electrified Powertrain System Considering Mechanical-Electric-Network Effects

Zhu

et al. 2020

IEEE Access

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“…For most instances, the traction motor is directly connected to the transmission assembly without clutches or torque converter, causing that the powertrain is more sensitive to the oscillation caused by the flexibility of the half shaft and driveline backlash. 5,6 The nonlinear backlash in gearing system can lead to repetitive impact conditions, known as gear rattle, [7][8][9] which can be divided into idle gear rattle, coast rattle, creep, and drive rattle according to the loading condition. On the other hand, along with the flexible half-shafts, the backlash traversing impact at high load can cause structural vibration, which is characterized as a short-duration, audible, high-frequency (300-5000 Hz) elastoacoustic phenomenon, known as clonk.…”

Section: Introductionmentioning

confidence: 99%

“…10,11 Typical maneuvers such as throttle tip-in/tip out, gearshift and regenerative braking generate a torque transient, during which the driveline backlash is traversed from the positive contact surface to the negative contact one, causing the initial jerking of the vehicle and torque oscillation of the half shaft, known as the shunt/shuffle. 6,12,13 Therefore, the compensation control of traction motor to damp the driveline oscillation is essential to improve the drivability of the electric vehicle. 14 Most of the active damping methods aimed to alternatively control the engine or traction motor torque of the powertrain to realize the engine start/ stop process of the hybrid electric vehicles.…”

Section: Introductionmentioning

confidence: 99%

Active oscillation control of electric vehicles with two-speed transmission considering nonlinear backlash

Zhang

Chai

2019

Proceedings of the Institution of Mechanical Engineers, Part K:

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The nonlinear backlash can influence the driveability of the electric driveline due to the lack of the traditional clutches and torsional damper devices. During the stand-start, regenerative braking and gear shift process of the electric drive system equipped with two-speed transmission, the request of transient traction motor change will transverse the powertrain backlash, which will excite the driveline oscillations coupled to the first rigid mode of the entire powertrain, referred as shuffle or shunt. These vibrations are transmitted to the chassis, causing deterioration in passenger comfort. In this paper, the nonlinear driveline model including the traction motor, half shaft, driveline backlash, and car wheel are developed. Then, dual extended Kalman filter method is employed to estimate vehicle mass and half shaft torsional angle of the proposed driveline. Based on the estimated information, a hierarchical architecture of the active oscillation compensation is proposed to alleviate the vibration in both contact and backlash mode. The experimental results show that the estimation method is effective and the vehicle shuffle can be significantly decreased by the developed control algorithm.

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“…Therefore, there is a certain control delay and the vibration suppression effectiveness is limited. The model-based closed-loop control method, which is applied to the vehicle longitudinal lowfrequency vibration control, mainly includes the pole placement method based on modern control theory [12,13], the root locus method based on classical control theory [14], and the method based on optimal control theory [15,16]. This kind of control algorithm has the advantages of high portability, less reliance on experimental calibration, and high control precision.…”

Section: Introductionmentioning

confidence: 99%

A Reduced‐Order Model for Active Suppression Control of Vehicle Longitudinal Low‐Frequency Vibration

Hao

Zhao

Huang

2018

Shock and Vibration

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Establishing a prediction model, with linearity and few dof (degree of freedom), is a key step for the design of a control algorithm based on the modern control theory. In this paper, such a model is needed for active suppression of vehicle longitudinal low-frequency vibration. However, many dynamic processes in the vehicle have different effects on the vibration. Therefore, a detailed coupling model is firstly established, considering the dynamics of the torsional vibrations of the driveline and the tire, the tire force nonlinearity, and the vehicle vertical and pitch vibrations. Based on this model, sensitivity analysis is conducted and the results show that the tire slip, the torsional stiffness of the half-shaft, and the tire have great influences on the longitudinal vibration. Then a three-dof model is obtained by linearizing the tire slip into damping. A parameter estimation method is designed to obtain the model parameters. Finally, the model is validated. The time domain response, error analysis, and frequency response results demonstrate that the 3-dof model has a good consistency with the detailed coupling model. It is suitable as a control-oriented model.

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A Powertrain LQR-Torque Compensator with Backlash Handling

Cited by 38 publications

References 4 publications

Robust Oscillation Suppression Control of Electrified Powertrain System Considering Mechanical-Electric-Network Effects

Robust Oscillation Suppression Control of Electrified Powertrain System Considering Mechanical-Electric-Network Effects

Active oscillation control of electric vehicles with two-speed transmission considering nonlinear backlash

A Reduced‐Order Model for Active Suppression Control of Vehicle Longitudinal Low‐Frequency Vibration

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