Model-based predictive anti-jerk control

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Model-based predictive anti-jerk control

Baumann, Julian / Torkzadeh, Dara D. / Ramstein, Axel / Kiencke, Uwe / Schlegl, Thomas

Comfort is an increasingly important issue when buying a car. Modern diesel engines generate a high engine torque already at low engine speed, which may cause oscillations in the driveline of the vehicle. These oscillations are experienced as unpleasant jerking by the driver. A model-based control concept is developed in order to prevent the driveline from oscillating, a so-called anti-jerk control. First, a theoretical model of the drive-train of a car was explicated. The drive-train was simplified to a two-mass-model connected with a damped torsional flexibility. The parameters were identified by measured data. A system inherent dead-time was utilized to create a predictive model of the difference between the engine and wheel speed. A controller was designed with the help of the root locus method. An analogy to a classical PD (Proportional plus Derivating) controller was drawn. The controller uses the speed difference as input variable and produces a corrective torque as output. Finally, tests in a vehicle were conducted. The oscillations of the car could be reduced by the new controller for all engine speeds and for tip in and tip out. The fast reaction of the car to the driver's torque request was retained. Future work will concentrate on additional tests for different driving situations (e.g. a partly opened clutch) as well as for other kinds of drive-trains, e.g. rear-wheel drive and continuously variable transmission.