2019 年 13 巻 1 号 p. JAMDSM0018
This paper proposes a vibration control method of an automotive drive system with backlash to maintain stability and control performance under the control period constraint due to an engine's characteristics. Reducing the vibrations of the automotive drive system remains a challenge when improving the riding comfort and driving performance of automobiles. In particular, a vibration control method must be developed to compensate for the backlash of differential gears because this element degrades the vibration control performance. Furthermore, engines used as actuators have a constraint in which control cycles are made longer due to restrictions of the input update. The roughly updated cycles adversely affect not only the high vibration control performance but also the stability. In this study, we validate the control system for an automotive drive system with backlash by considering the input update limitation. First, a basic experimental device, which abstracts actual vehicles to focus on the influence due to backlash while reflecting only the basic structure of an automotive drive system, is created. Then to cope with the control cycle constraint, sampled-data H2 control is applied. The servo system is constructed by applying an approximate integrator and frequency shaping. As an approach to compensate for backlash, we propose a simple and practical control mode switching technique. Finally, the effectiveness of the control system is verified experimentally. The results are compared to the control results with those obtained by the traditional discrete approximation.