Abstract
We are developing an oscillation suppression control method to reduce resonance caused by torsion of driveshafts. It is desirable to apply a control method that is easy to understand and has high performance within the range of classical control theory. In this paper, we have developed an oscillation suppression control method based on the difference between motor rotation speed and tire rotation speed, which only has one feedback gain to be tuned. The tire rotation speed is estimated by an identity observer that takes torsion into account, characterized by changing the values of matrices depending on whether the tire is gripping or slipping. The effectiveness of the proposed method has been verified by simulation and driving test.
