Electrical drives are of increasing interest for road vehicles, either as sole propulsion engine that is fed by a battery or a fuel cell, or in combination with a combustion engine as a hybrid drive. This paper, however, deals with a pure electrical drive system. The induction motor of 50 kW rated power is fed by a voltage source converter with a Zebra battery supply allowing 140 km operation range. A problem with electrically driven vehicles is resonances in the drive train caused by elasticity and gear play. Disadvantageous effects caused by this are noticeable vibrations and high mechanical stresses due to torque oscillations. The oscillations can be damped using a control structure consisting of a nonlinear observer to estimate the torque in the gear and a controller, which computes a damping torque signal that is added to the driver's demand. The control algorithm was implemented in the existing motor control unit without any additional hardware cost. The controller was successfully tested in a test vehicle. The resonances can essentially be eliminated. The controller copes satisfactorily with the backlash problem.
Active suppression of torsional oscillations
Aktive Unterdrückung von Torsionsschwingungen
2005
6 Seiten, 9 Bilder, 10 Quellen
Conference paper
English
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