Abstract
Integrated motor-transmission (IMT) system is prone to suffer from torsional oscillations due to its fast dynamic behavior and weak damping characteristics. Meanwhile, signal communication between sensors, controllers and actuators via controller area network (CAN) that introduces time-varying delays, could also stimulate torsional oscillations in IMT system. Thus, this paper is intended to develop a robust controller to suppress these oscillations for IMT system during vehicle speed tracking. Considering the coupling effects of CAN-induced time-varying delays and event-driven manner of the controller nodes, as well as possible sampling period change, a delay-free discrete time model is built for IMT system by using polytopic inclusion approach and system augmentation technique. Based on this model, an energy-to-peak performance based robust controller is then developed for IMT system over CAN. It can achieve stable as well as good torsional oscillations suppression performance in spite of CAN-induced time-varying delays, sampling period change and also measurement noises. Finally, with a detailed CAN model developed by using SimEvent, conventional proportional-integral (PI) controller and energy-to-peak controller that designed with fixed sampling period are utilized in the comparative tests to show the effectiveness as well as performance of proposed torsional oscillations controller.
Highlights
Powertrain electrification is a consistent tendency in recent years for ground vehicles [1]–[3]
This paper is intended to develop a robust torsional oscillation controller for Integrated motor-transmission (IMT) system over controller area network (CAN), and the major contributions can be summarized as follows: (1) In order to show the effects of CAN-induced delays under event-driven manner of the controller nodes and possible sampling period change on the torsional oscillation damping performance, a delay-free discrete-time model is developed for IMT system over CAN by using polytopic inclusion approach and system augmentation technique
In order to better show the characteristics of CAN communication, a detailed CAN model is built by using Matlab/SimEvent, which is composed of CAN node module and CAN bus module
Summary
Powertrain electrification is a consistent tendency in recent years for ground vehicles [1]–[3]. Due to increasing information exchange requirement of the vehicle system, bandwidth limitation of invehicle network inevitably would induce time-varying delays [28], [29] These CAN-induced delays would cause powertrain oscillations, which should be considered in the active damping controller design. (1) In order to show the effects of CAN-induced delays under event-driven manner of the controller nodes and possible sampling period change on the torsional oscillation damping performance, a delay-free discrete-time model is developed for IMT system over CAN by using polytopic inclusion approach and system augmentation technique. (2) Based on the delay-free discrete-time model, a robust energy-to-peak controller is further developed for IMT system over CAN, which can achieve stable and good torsional oscillation suppression performance in spite of network-induced time-varying delays as well as possible sampling period change. The disturbance w here is mainly caused by linear approximation of air drag torque, it can cover other external load disturbances and modelling errors, which will be all handled by using robust controller design
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