Feedback Control Design for Drive Shaft Vibration Suppression Based on Frequency Domain Analysis of Two-Input-Two-Output Motor Drive System

To improve the cornering performance of the vehicle, the two-motor-torque difference amplification-torque vectoring differential (TDA-TVD) has been proposed for the two-input-two-output motor drive system, since it enables to increase the maximum torque difference between left and right wheels. However, this mechanism has problems of torque coupling and vibration in left and right drive shafts. In the previous research conducted by the authors, the TDA-TVD model analysis and drive shaft vibration suppression control methods are provided, but only feedforward control is considered. In this paper, a drive shaft vibration suppression controller is designed with frequency domain analysis of the model. The proposed controller consists of a feedforward controller using the inverse model of TDA-TVD, and a feedback controller using the rotation speed of the motor. The experimental evaluation of the proposed controller is performed using a real vehicle with the TDA-TVD system.