Vibration control of automotive drive system with backlash considering control period constraint

Abstract

This paper proposes a vibration control method of an automotive drive system with backlash to maintain stability and control performance under the control period constraint due to an engine's characteristics. Reducing the vibrations of the automotive drive system remains a challenge when improving the riding comfort and driving performance of automobiles. In particular, a vibration control method must be developed to compensate for the backlash of differential gears because this element degrades the vibration control performance. Furthermore, engines used as actuators have a constraint in which control cycles are made longer due to restrictions of the input update. The roughly updated cycles adversely affect not only the high vibration control performance but also the stability. In this study, we validate the control system for an automotive drive system with backlash by considering the input update limitation. First, a basic experimental device, which abstracts actual vehicles to focus on the influence due to backlash while reflecting only the basic structure of an automotive drive system, is created. Then to cope with the control cycle constraint, sampled-data H2 control is applied. The servo system is constructed by applying an approximate integrator and frequency shaping. As an approach to compensate for backlash, we propose a simple and practical control mode switching technique. Finally, the effectiveness of the control system is verified experimentally. The results are compared to the control results with those obtained by the traditional discrete approximation.

Active vibration control of automobile drivetrain with backlash considering time-varying long control period

“…The more details on the experimental device such as the simplifications are included in Yonezawa and colleagues. 21,22…”

“…According to the previous study, 21 the sampled-data H 2 controller 25–27 is applied to the plant to maintain the controller’s performance even with the extended control period (C2). In the sampled-data control, involving no discrete approximations with the design allows responses between sampling points to be explicitly considered.…”

“…In this study, the cut-off frequency was determined as 10–30 Hz with a sufficient margin from the first natural frequency of 4.0 Hz. The gain in the passband of the low-pass filter becomes a weighting constant in minimizing the H 2 norm 25–27 of z 1 when designing the controller in Figure 4(a). Therefore, designing its value to be too small may lead to an insufficient transient vibration performance.…”

“…First, a sampled-data controller is verified for the plant with the fixed control period constraint (only (C2)). 21 The long control period of (C2) is determined as Δ T cont = 0 . 0404 s . For comparison, a traditional continuous-time H 2 controller implemented by discretization is also applied.…”

“…In our previous study, 21 an approach to apply the sampled-data control to the extension of the control period (C2) was proposed. The sampled-data controller can explicitly consider responses between sample points because the design process does not require discrete approximations to implement.…”