Nonlinear Flatness-Based Control of Driveline Oscillations for a Powertrain with Backlash Traversing

Pham, Truc Le-Buu; Seifried, Robert; Höck, A.; Scholz, Christian

doi:10.1016/j.ifacol.2016.08.109

Cited by 14 publications

(7 citation statements)

References 9 publications

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“…True used a continuously differentiable tanh function instead of a nonlinear dead time function to describe the backlash and then applied flatness-based forward control. 17…”

Section: Introductionmentioning

confidence: 99%

Multivariable model predictive control of a compound power-split hybrid electric vehicle during the tip-in/out process

Gao

Lou

Zhang³

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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For a compound power split hybrid system, such as the Corun hybrid system (CHS), a frequently encountered problem is determining how to compensate for the inertia torque of the transmission via the torque distribution of the two motors. The equivalent inertia of the transmission is variable and depends on the angular acceleration. According to the traditional control scheme, the target torque of the motors is distributed by simplifying the output angular acceleration to 0. This simplification introduces deviations in the torque distribution, and it is difficult to guarantee the quality of the two control quantities simultaneously. Recent research has also focused only on the control quality of one of the outputs. To solve this problem, a direct MIMO control scheme is proposed in this paper that directly calculates the target torques of the two motors based on control deviations. A multivariable model predictive controller (MPC) was designed for the control of transient processes. The simulation results showed that the proposed control method can improve the control accuracy of two objectives significantly, and it has an excellent ability to reject torque disturbances.

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“…True used a continuously differentiable tanh function instead of a nonlinear dead time function to describe the backlash and then applied flatness-based forward control. 17…”

Section: Introductionmentioning

confidence: 99%

Multivariable model predictive control of a compound power-split hybrid electric vehicle during the tip-in/out process

Gao

Lou

Zhang³

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…brupt traction torque variations can induce mechanical resonance and oscillations in vehicle drivetrains in the 5-50 Hz frequency range [1]. These oscillations are caused by the torsional compliance of the driveline components, e.g., the halfshafts [2], and are emphasized by the inevitable presence of mechanical playalso known as backlashin the transmission gears [3]. In general, the torsional oscillations of automotive drivetrains cause: i) oscillations of the longitudinal vehicle acceleration, which compromise passenger comfort; and ii) premature hardware wear [3].…”

Section: Introductionmentioning

confidence: 99%

“…The system also includes a feedback contribution, in the form of a disturbance observer. In [10] and [11], Pham et al present a feedforward flatnessbased controller, which is coupled with a feedback contribution to compensate for model mismatches and external disturbances.  Category 2 controllers, i.e., feedback controllers based on the oscillating component of the EM speed (indicated as ̇, in the remainder), or ICE speed, which is fed to the controller to calculate the corrective torque.…”

Section: Introductionmentioning

confidence: 99%

“…The simplest control structure of this kind, also known as tachometric controller [15], feeds ∆̇ into a proportional regulator that calculates the corrective anti-jerk torque, i.e., the controller acts as a virtual linear damper between EM and wheel [7], [8], [16]. In [10] and [11], a tachometric control structure is combined with a model-based feedforward contribution. Yamada et al [17] add a switching logic, to cope with drivetrain backlash.…”

Section: Introductionmentioning

confidence: 99%

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Comparison of Anti-Jerk Controllers for Electric Vehicles With On-Board Motors

Scamarcio

Metzler

Gruber

et al. 2020

IEEE Trans. Veh. Technol.

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Anti-jerk controllers actively suppress the torsional oscillations of automotive drivetrains, caused by abrupt variations of the traction torque. The main benefits are: i) enhanced passengers' comfort; and ii) increased component life. Extensive literature deals with the design of anti-jerk controllers for electric powertrains with on-board motors, i.e., in which the electric motor is part of the sprung mass of the vehicle, and transmits torque to the wheels through a transmission, half-shafts and constant velocity joints. Nevertheless, a complete and structured comparison of the performance of the different control options is still missing. This study addresses the gap through the assessment of six anti-jerk controllersfive exemplary formulations from the literature, and one novel formulation based on explicit nonlinear model predictive control (eNMPC). All proposed control structures have the potential to be implemented on production vehicles. A set of objective performance indicators is defined to assess the controllers, which are tuned through an optimizationbased routine. Results show that the wheel speed input is critical to enhance controller performance, but may lead to reduced robustness.

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“…The vehicle driveline is actually a nonlinear system which contains many nonlinear factors, such as the backlash which introduces the hard nonlinearity characteristics. The backlash is mainly caused by the play between gears in the final drive and the gearbox, 9,10 and scholars have done a lot of researches on the issues that were caused by the backlash. 11,12 However, as the main flexible part of the driveline, the half-shaft is generally modeled as a linear massless torsional spring/damper package.…”

Section: Introductionmentioning

confidence: 99%

Torsional dynamics and stability of automotive driveline considering cubic nonlinearity

Han

2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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Since the half-shaft is the main flexible part of the automotive driveline, the torsional dynamics of the simplified driveline considering the cubic nonlinearity of the half-shaft is discussed in the paper. The approximate solutions of the torsional shock response and the resonance response of the driveline are derived using the method of multiple scales. The stability and bifurcation condition of the responses are judged based on the Routh–Hurwitz criterion and the bifurcation theory, respectively. It is shown that the negative cubic nonlinear stiffness is propitious to suppress the torsional shock of the driveline while the positive is on the contrary. Meanwhile, the ability of the suppression of the torsional shock can be improved with the decrease in the linear stiffness. The resonance curve of the driveline may lose its stability when the value of the cubic nonlinear stiffness reaches the threshold. By properly designing the negative cubic nonlinear stiffness of the half-shaft, the instability of the resonance can be suppressed and the ability of the suppression of the torsional shock can also be improved.

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Nonlinear Flatness-Based Control of Driveline Oscillations for a Powertrain with Backlash Traversing

Cited by 14 publications

References 9 publications

Multivariable model predictive control of a compound power-split hybrid electric vehicle during the tip-in/out process

Multivariable model predictive control of a compound power-split hybrid electric vehicle during the tip-in/out process

Comparison of Anti-Jerk Controllers for Electric Vehicles With On-Board Motors

Torsional dynamics and stability of automotive driveline considering cubic nonlinearity

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