Driveline Backlash and Half-shaft Torque Estimation for Electric Powertrains Control

Guercioni, Guido Ricardo; Galvagno, Enrico; Tota, Antonio; Vigliani, Alessandro; Zhao, Tong

doi:10.4271/2018-01-1345

Cited by 15 publications

(6 citation statements)

References 21 publications

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“…A speed controller is also included in Figure 14 to reduce the speed error = − by regulating the gas pedal position (not described in this paper). Furthermore, all the feedback signals shown in Figure 14 are assumed to be fully available but feasible estimators are required for practical implementations, as also described in [23]. The two alternative logics are expressed by:…”

Section: Controller Designmentioning

confidence: 99%

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

2021

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Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis.

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Section: Controller Designmentioning

confidence: 99%

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

2021

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“…ω out is the transmission output angular acceleration. It is important to remark that this mathematical model does not include the transmission nonlinearities such as the gear backlashes, whose presence may affect the powertrain torsional dynamics in specific conditions [37,38].…”

Section: Mathematical Modelmentioning

confidence: 99%

Energy Management Strategy for Hybrid Multimode Powertrains: Influence of Inertial Properties and Road Inclination

et al. 2021

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Multimode hybrid powertrains have captured the attention of automotive OEMs for their flexible nature and ability to provide better and optimized efficiency levels. However, the presence of multiple actuators, with different efficiency and dynamic characteristics, increases the problem complexity for minimizing the overall power losses in each powertrain operating condition. The paper aims at providing a methodology to select the powertrain mode and set the reference torques and angular speeds for each actuator, based on the power-weighted efficiency concept. The power-weighted efficiency is formulated to normalize the efficiency contribution from each power source and to include the inertial properties of the powertrain components as well as the vehicle motion resistance forces. The approach, valid for a wide category of multimode powertrain architectures, is then applied to the specific case of a two-mode hybrid system where the engagement of one of the two clutches enables an Input Split or Compound Split operative mode. The simulation results obtained with the procedure prove to be promising in avoiding excessive accelerations, drift of powertrain components, and in managing the power flow for uphill and downhill vehicle conditions.

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“…The classification requires precise estimation of the shaft torsional angle. Guercioni et al 6 combined Kalman filter and model-based open-loop estimation to estimate the backlash and shaft torque for an electric vehicle. This approach was also realized by Canova et al 7 on an ICE vehicle.…”

Section: Introductionmentioning

confidence: 99%

Mode-switch model predictive controller with “pre-contact” method for alleviating driveline vibration of electric vehicles considering backlash

Chai

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The backlash between engaging components in a driveline is inevitable and contributes to the nonlinearity of the driveline. The existing motor controllers of an electric vehicle usually ignore the backlash, which often brings impacts and vibration. This paper proposes an active driveline vibration controller for electric vehicles. A nonlinear driveline model considering backlash and wheel slip ratio is established in MATLAB/Simulink, and the results of bench test proved that the model could effectively reflect the transient dynamics of the electric driveline. Based on this model, a dual extended Kalman filter observer is designed to estimate both the system state variables and vehicle mass, which are essential information for the controller design. Then, a mode-switch model predictive controller based on two linearized models is proposed to alleviate the impacts and vibration caused by the transient change of motor torque. The proposed controller would identify whether the driveline is operating in “contact mode” or “backlash mode” and thus generates an optimal motor torque by solving a Quadratic Programing. Note that the control targets and model structures in two modes are different. Furthermore, a “pre-contact” method is proposed as an additional part to handle the condition when motor command torque is zero. Simulation results demonstrate that the proposed controller can effectively alleviate the impacts and vibration in the electric driveline while keeping the torque delay negligible. Moreover, the robustness of the proposed controller against estimation errors and system noises are discussed.

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Driveline Backlash and Half-shaft Torque Estimation for Electric Powertrains Control

Cited by 15 publications

References 21 publications

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Energy Management Strategy for Hybrid Multimode Powertrains: Influence of Inertial Properties and Road Inclination

Mode-switch model predictive controller with “pre-contact” method for alleviating driveline vibration of electric vehicles considering backlash

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