Drivetrain clunk control via a reference governor

Reddy, Prithvi; Shahbakhti, Mahdi; Ravichandran, M.H.; Doering, Jeff

doi:10.1016/j.ifacol.2021.11.277

Cited by 5 publications

(10 citation statements)

References 13 publications

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“…Backlash in a drivetrain leads to an undesirable phenomenon, which significantly increases the vibration amplitude. 12,13 The drivetrain dynamics switch between two conditions: “contact mode,” during which mechanical contact occurs, and “backlash mode.” Backlash mode disconnects the output side (wheel side) from the input side (actuator side) owing to the traversal in backlash. This phenomenon, that is, switching of the dynamics modes, also leads to higher complexity of control system structures and increases the designer's burden in terms of tuning tasks.…”

Section: Introductionmentioning

confidence: 99%

Experimental verification of active oscillation controller for vehicle drivetrain with backlash nonlinearity based on norm-limited SPSA

Yonezawa,

Kajiwara

2024

Proceedings of the Institution of Mechanical Engineers, Part K:

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To address vehicle drivetrain vibrations that cause discomfort and poor drivability, this study proposes a new active damping strategy with simple backlash compensation based on the simultaneous perturbation stochastic approximation (SPSA) with norm-limited update vector. First, an experimental device developed for a simplified drivetrain mechanism is demonstrated. A mechanism for reproducing both the contact mode and the backlash mode is included in the device. For the contact mode, a model-based [Formula: see text] controller is employed as the baseline damping strategy. Further, to mitigate the backlash effect, a simple algorithm based on mode-switching-based compensation is used with the [Formula: see text] controller. In particular, for the critical controller parameters, this article presents a systematic design approach to search for their optimal values. The key parameters, which are needed for the backlash and contact mode controllers, are simultaneously auto-tuned using norm-limited update vector-based SPSA, which ensures the stability in the iterative tuning. The novelty of this study is that both the backlash mode controller and the contact mode controller are simultaneously optimized by the improved version of SPSA, thus realizing a comprehensive auto-tuning design of an active drivetrain damping system. Finally, the active controller is experimentally verified using the actual test device. Comparative studies show that the proposed approach significantly reduces drivetrain vibrations and is robust against fluctuations in the backlash.

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Section: Introductionmentioning

confidence: 99%

Experimental verification of active oscillation controller for vehicle drivetrain with backlash nonlinearity based on norm-limited SPSA

Yonezawa,

Kajiwara

2024

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…The above control approaches neglect the nonlinear backlash, which results in the growth of the oscillation amplitude [16], [17], caused within a gear of driveline. The backlash makes a driveline mechanism discontinuously change between two dynamics: "contact mode" where the mechanical connection is established through the driveline and "backlash mode" where the motor and wheel sides are decoupled because of the clearance crossing.…”

Section: Introductionmentioning

confidence: 99%

“…The backlash makes a driveline mechanism discontinuously change between two dynamics: "contact mode" where the mechanical connection is established through the driveline and "backlash mode" where the motor and wheel sides are decoupled because of the clearance crossing. Such nonlinearity forces us to tackle a challenging situation with difficulty in the design of a more complicated active control structure [16]- [21]. Specifically, advanced control schemes are required.…”

Section: Introductionmentioning

confidence: 99%

“…Switching control strategies according to the two modes are promising [18], [19]. In [16], [18], a clunk controller based on a soft landing reference governor was proposed to reduce the impact due to backlash. In [20], backlash was addressed in a flatnessbased feedforward control logic.…”

Section: Introductionmentioning

confidence: 99%

“…Among active oscillation reduction techniques for a driveline, optimization problems introduced to compromise with some competing requirements can be found. For example, a model-based torque shaping controller was proposed to reduce the induced impact when a clunk occurs in backlash while enabling a smooth response during crossing in backlash [16]. Another study found that the genetic algorithm (GA) can give the optimal weighting coefficients required to design an LQR vibration controller [31].…”

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confidence: 99%

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Efficient Tuning Scheme of Mode-Switching-Based Powertrain Oscillation Controller Considering Nonlinear Backlash

Yonezawa,

Kajiwara

2023

IEEE Access

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For enhancement of the drivability and lifetime of the components, reduction in vehicle driveline oscillations has been addressed by advanced active control algorithms. However, most of the existing works involve subjective determination of their critical controller parameters, imposing heavy adjustment tasks on designers. This research presents an efficient tuning algorithm of the model-based driveline vibration controller that explicitly considers the adverse influences due to nonlinear backlash. First, a driveline dynamics model with a dead-zone effect of backlash is established. A dynamic output feedback 𝐻 2 controller is designed as a baseline controller to attenuate the low-frequency resonance of a driveline. A simple control mode switching algorithm is combined with the controller to deal with the backlash nonlinearity. The optimal values of their important design parameters included in the active control system are automatically searched by a computationally efficient algorithm, i.e., the simultaneous perturbation stochastic approximation (SPSA). The proposed active oscillation controller tuned by the SPSA is validated via several simulation tests. The robustness is evaluated for various patterns of driveline dynamics fluctuations such as the model parameters, the length of backlash, and the driving conditions. Moreover, the proposed controller is compared to traditional active controllers including a proportional integral differential (PID) controller tuned by the Ziegler-Nichols method. As a result, the improvement of the vibration suppression performance as well as its robustness originating from the compensation for backlash is revealed.

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