open access

https://hdl.handle.net/2115/91640

Experimental verification of active oscillation controller for vehicle drivetrain with backlash nonlinearity based on norm-limited SPSA

英語

Vehicle system

2024-04-01

Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics

238(1)

134-149

To address vehicle drivetrain vibrations that cause discomfort and poor drivability, this study proposes a new active damping strategy with simple backlash compensation based on the simultaneous perturbation stochastic approximation (SPSA) with norm limited update vector. First, an experimental device developed for a simplified drivetrain mechanism is demonstrated. A mechanism for reproducing both the contact mode and the backlash mode is included in the device. For the contact mode, a model based 𝐻2 controller is employed as the baseline damping strategy. Further, to mitigate the backlash effect, a simple algorithm based on mode switching based compensation is used with the 𝐻2 controller. In particular, for the critical controller parameters, this paper presents a systematic design approach to search for their optimal values. The key parameters, which are needed for the backlash and contact mode controllers, are simultaneously auto tuned using norm limited update vector based SPSA, which ensures the stability in the iterative tuning. The novelty of this study is that both the backlash mode controller and the contact mode controller are simultaneously optimized by the improved version of SPSA, thus realizing a comprehensive auto tuning design of an active drivetrain damping system. Finally, the active controller is experimentally verified using the actual test device. Comparative studies show that the proposed approach significantly reduces drivetrain vibrations and is robust against fluctuations in the backlash.

学術雑誌論文

Accepted Manuscript

Heisei Yonezawa, Ansei Yonezawa, and Itsuro Kajiwara, Experimental verification of active oscillation controller for vehicle drivetrain with backlash nonlinearity based on norm-limited SPSA, Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics (First published online April 1, 2024). Copyright © 2024 by Institution of Mechanical Engineers. DOI:10.1177/14644193241243158.

1464-4193