Shaft Torque Compensation for Electric Vehicle Driveline Oscillation Active Damping with Feedforward and PID Feedback Controller

摘要

The flexibility of the powertrain leads to the driveline oscillating, which will deteriorate the drivability and comfort of the vehicle, in transient condition such as pedal tip in/out maneuver and regenerative braking. This problem has received increasing interest due to the higher drivability demand of drivers with the development of car industry. This paper aims at active damping of the powertrain oscillation with a shaft torque compensator. In this paper, a simplified powertrain model is established and the frequency response characteristics of the powertrain is analysed. In order to damp out the oscillation, the torque of the drive shaft is compensated with a feedforward and PID feedback controller which is designed based on the simplified powertrain model. For there usually is no torque sensor in the vehicle powertrain, a minimal order observer is established to observe the state variables that cannot be measured. The simulation results are proposed and compared with those with no oscillation controller, it shows the proposed controller can damp out the oscillation effectively.