Backlash in electric powertrains leads to unintentional vibrations and noise during tip-in and tip-out maneuvers, which need to be avoided in order to improve ride comfort. For control application of e.g. feed forward control of automotive drivelines, the information of the backlash state, including the accurate time at which the gear train is fully engaged, is very important. Therefore, the size of the backlash is a crucial parameter that is determined precisely in advance. In this paper, a switching Kalman filter-based estimator for the current backlash torsion angle is developed. For this purpose, the electric powertrain is modeled as a four-mass oscillator. The additional measurement of the gear speed and the side shaft torque in addition to the motor and wheel speed demonstrates the accuracy of the model. The estimator uses the motor speed as well as the wheel speed, which are typical measured values in vehicles. The results of the observer were validated by several measured data. In addition, measured side shaft torques are used to verify the exact time of exiting the backlash. The results show that estimation of this time is obtained with an accuracy of four milliseconds. Hence, the backlash position estimator is highly effective for a future application in powertrain control systems.


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    Title :

    Estimation of Torsional Backlash Angle in Electric Powertrains


    Contributors:


    Publication date :

    2022-08-23


    Size :

    1529502 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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