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An LQR torque compensator for driveline oscillation damping

Peter Templin (Institutionen för signaler och system, Reglerteknik) ; Bo Egardt (Institutionen för signaler och system, Reglerteknik)
2009 IEEE International Conference on Control Applications, CCA '09; Saint Petersburg; Russian Federation; 8 July 2009 through 10 July 2009 (1085-1992). p. 352-356. (2009)
[Konferensbidrag, refereegranskat]

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.

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Denna post skapades 2011-01-13. Senast ändrad 2016-05-17.
CPL Pubid: 133402


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Institutioner (Chalmers)

Institutionen för signaler och system, Reglerteknik (2005-2017)



Chalmers infrastruktur