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.

I. Introduction

Due to the effects of global warming, the regulations on gasoline and diesel vehicles have been tighten. The research on electric vehicles has become increasingly important because they do not emit greenhouse gas while driving. In addition, there are three other important characteristics of electric vehicles: 1) each wheel can be controlled independently by the distributed arrangement of driving motors; 2) motor torque can be estimated by the current of motors; and 3) torque response of motors is about 100 times faster than internal combustion engines. By utilizing these characteristics, advanced motion control of the electric vehicle becomes possible [1], [2].