制御入力の更新タイミングに不確かさを有する自動車駆動系のアクティブ振動制御

抄録

This work offers an active damping technique for automotive drive systems with backlash and uncertainty on the update timing of control input due to the control cycle limitation. The backlash existing in gears of automotive drive systems induces undesired transient vibration characteristics, which deteriorate the riding comfort, when a driving torque becomes a step signal. Furthermore, in an engine employed for the vibration control, the mechanical process to generate torque makes the control cycle time-varying, resulting in uncertainty on the update timing of control input. Consequently, an active damping technique to compensate for the update timing should be important. To compensate for the maximal phase delay of the control input caused by the time-varying control cycle, the predictive processing utilizing the sampled-data controller and the unscented Kalman filter (UKF) is employed. As the main result of this paper, a fuzzy inference is introduced into the previous approach to cope with the uncertainty on update timing of control input. This paper presents the basic idea of the compensation with two fuzzy inference rules. Finally, to confirm whether the proposed idea can suppress the vehicle body oscillations, a basic simulation verification is conducted.