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

Abstract

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.

Predictive Anti-Jerk and Traction Control for V2X Connected Electric Vehicles With Central Motor and Open Differential

“…All proposed controllers are based on realistic assumptions in terms of required state estimators. In fact, a wide literature covers state estimators of individual tire slip [9], [26], as well as half-shaft torsion and half-shaft torque [2], [20], [27], including examples of experimental validation on real vehicles [9], [26], [28].…”

“…The literature includes a variety of model predictive traction controllers [16]- [19] and anti-jerk controllers [2], [20] without road preview, all of them defining the wheel slip control problem only for a single wheel. In [21] Batra et al propose a model predictive adaptive cruise controller with traction control capability, achieved through a hard constraint on the longitudinal tire slip.…”

Jerk within the Context of Science and Engineering—A Systematic Review

“…Jerk in unmanned aerial vehicle (UAV) [11,[178][179][180][181][182][183][184][185][186]; and 21. Jerk in vehicles (ride comfort [12,15,17,19,25,45,95,98-106,108,109,111-113,115,118-121, 123-125,127-131], anti-jerk controller design [95,[98][99][100][101][102]109,111,119,120,130], autonomous vehicles [12,16,114,123,187,188], and other [111,187,[189][190][191][192][193][194][195].…”

“…Ride comfort is an important parameter in amusement rides [1,4,5], sea-keeping [9,10,122,126] and traditional land-based vehicles [12,25,45,95,[98][99][100][101][102][103][104][105][106]108,109,[111][112][113]115,[118][119][120][121][123][124][125][127][128][129][130][131]. There are still discussions ongoing regarding the significance of jerk regarding ride comfort for vehicles, and jerk is probably a better measure for driving comfort than acceleration, as pointed out by van Santen [128] and confirmed, e.g., in the study by Grant and Haycock [107].…”

“…Jerk in vehicles is mainly used for measuring the ride comfort [12,25,45,95,98-106,108,109,111-113, 115,118-121,123-125,127-131]. It is also used as a controller design, referred to as an anti-jerk controller design [95,[98][99][100][101][102]109,111,119,120,130]. Jerk is also used in autonomous vehicles [12,114,123,187,188], which is explained in the below sections.…”