Abstract
In automotive powertrains, backlash imposes well-known limitations on the quality of control and hence the driveability. In order to increase the controller performance, knowledge of the backlash properties (size and current position) is needed. In previous papers, nonlinear estimators for backlash size and position are described, based on Kalman filtering theory. The size and position estimators are combined, and the result is an estimate of the state of the backlash. In this paper, experimental results from vehicle tests show that the estimates are of high quality, and hence useful for improving backlash compensation functions in the powertrain control system.
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