A Powertrain LQR Torque Compensator with Backlash Handling
Journal article, 2011

This paper derives an LQR anti-jerk controller for an automotive driveline. The time derivative of the drive shaft torque, which is closely related to the vehicle jerk, is used as a virtual system output and regulated to zero. Thereby, the controller does not need a reference model for generation of reference trajectories for the control law evaluation. The controller acts as a torque compensator for the driver’s torque demand which the controller output asymptotically follows. The properties of the controller are discussed and the behavior is illustrated by simulation examples and verified with experiments on a heavy duty truck.

Powertrain

backlash

control

driveline

Author

Peter Templin

Chalmers, Signals and Systems, Systems and control, Automatic Control

Bo Egardt

Chalmers, Signals and Systems, Systems and control, Automatic Control

Oil and Gas Science and Technology

1294-4475 (ISSN)

Vol. 66 4 645-654

Areas of Advance

Transport

Energy

Subject Categories

Vehicle Engineering

Control Engineering

DOI

10.2516/ogst/2011147

More information

Created

10/7/2017