Model Predictive Anti-Jerk Control of an Electrified Drivetrain with Backlash


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This thesis addresses an optimal anti-jerk control law of an electrified drivetrain based on a model predictive control scheme. Due to a flexible driveshaft and gear clearance in the electrified drivetrain, when the vehicle traction torque changes drastically, it undergoes torsional vibration made more severe by the lack of external damping elements compared to the drivetrain in a gas-powered vehicle. This leads to unpleasant longitudinal vibration of a vehicle, so called jerk. This longitudinal vibration adversely affects driving comfort of an occupant which is undesirable with the growing trend toward automotive electrification. Although excessive damping can mitigate the torsional vibration of the drivetrain and improve driving comfort, it deteriorates vehicle responsiveness to the driver’s torque demand. Therefore, an optimal control law compromising these two conflicts is important. Toward this end, this thesis aims to develop the model predictive anti-jerk control law to find a trade-off between driving comfort and vehicle responsiveness.



Modeling and simulation, Vehicle jerk, Automotive backlash, Drivetrain control