Black-Box Model-Based Active Damping of Driveline Oscillations

This paper presents a driveline active damping strategy for electric vehicles. We first propose a black-box identification of the main oscillation modes of a transmission of a 4 Wheel Driven electric vehicle. We identify the models in a variety of conditions. We then design the active damping control using ${\mathcal{H}_\infty }$ considerations on the identified models. Extensive experimental validation shows that the active damping reduces of 24% the longitudinal jerk during sharp acceleration maneuvers without negatively affecting the longitudinal acceleration. Furthermore, we test the controller under a variety of condition to assess its robustness with respect to transmission load variations, friction changes and velocity.