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Experimental Results for a Powertrain LQR-torque Compensator with Backlash Handling

Peter Templin (Institutionen för signaler och system, Reglerteknik) ; Bo Egardt (Institutionen för signaler och system, Reglerteknik)
2009 IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling p. 148-153. (2009)
[Konferensbidrag, refereegranskat]

This paper extends an LQR anti-jerk torque compensator for an automotive driveline with an optimization based handling of the backlash. 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 properties of the controller are discussed and the behavior is illustrated by simulation examples and verified by experiments.

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Denna post skapades 2011-01-13. Senast ändrad 2016-05-17.
CPL Pubid: 133406


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Institutioner (Chalmers)

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



Chalmers infrastruktur