Mode-switching-based vehicle low-frequency longitudinal vibration control with backlash during Tip-in condition

When a vehicle is under tip-in condition, low-frequency longitudinal vibration occurs which generates a large vehicle jerk and deteriorates riding comfort. Active control is becoming more challenging, due to the fact that the powertrain backlash can aggravate this phenomenon and lead to damage of the mechanical elements in contact. Therefore, in this paper a mode-switching-based control strategy including a Receding Horizon Linear Quadratic Tracking (RHLQT) algorithm and constant torque control algorithm is designed to enhance riding comfort. First, according to the vehicle dynamic analysis, the control-oriented model of the vehicle driveline with backlash is established and validated by an ADAMS high fidelity plant model. Second, the simulation to exploring the influence of backlash on vehicle low-frequency longitudinal vibration is carried out. Then, the proposed control strategy is simulated and compared with other control strategies under tip-in condition. The simulation results show that the vehicle dynamic performance and riding comfort can be simultaneously improved by the developed control strategy.