Backlash position information is important in designing control systems for the purpose of reducing clunk and shuffle in automotive drivelines. Typically, this position information is used by the control system to determine when the driveline has entered or exited the backlash and also to regulate the speed of backlash traversal. To this end, we develop here a Kalman filter-based estimator for the backlash position, utilizing readily available speed measurements from the vehicle CAN bus. The estimator is designed to switch between two modes, since the drivetrain physics is different while traversing the lash and outside of the lash. We validate the estimator using experimentally collected vehicle test data, and observe that the backlash position estimates are accurate to within 20 ms of the test vehicle's actual backlash position. Furthermore, we verify the robustness of the system to CAN jitter in the speed measurements.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Automotive backlash position estimator for driveline jerk control




    Publication date :

    2020-08-01


    Size :

    365006 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Model predictive anti-jerk control of vehicle driveline oscillations

    Behrendt, Hendrik / Zemke, Steffen / Grotjahn, Martin | Tema Archive | 2009


    Driveline Backlash and Half-shaft Torque Estimation for Electric Powertrains Control

    Guercioni, Guido Ricardo / Galvagno, Enrico / Tota, Antonio et al. | BASE | 2018

    Free access

    Driveline Backlash and Half-shaft Torque Estimation for Electric Powertrains Control

    Guercioni, Guido Ricardo / Galvagno, Enrico / Tota, Antonio et al. | British Library Conference Proceedings | 2018


    Driveline Backlash and Half-shaft Torque Estimation for Electric Powertrains Control

    Vigliani, Alessandro / Tota, Antonio / Galvagno, Enrico et al. | SAE Technical Papers | 2018


    Backlash gap position estimation in automotive powertrains

    Lagerberg, Adam / Egardt, Bo S. | Tema Archive | 2003