Active Damping Control and Architecture within a Hybrid Supervisor Control Structure 2024-01-2144

This paper focuses on an inherent problems of active damping control prevalent in contemporary hybrid torque controls. Oftentimes, a supervisory torque controller utilizes simplified system models with minimal system states representation within the optimization problem, often not accounting for nonlinearities and stiffness. This is motivated by enabling the generation of the optimum torque commands with minimum computational burden. When inherent lash and stiffness of the driveline are not considered, the resulting command can lead to vibrations and oscillations in the powertrain, reducing performance and comfort. The paper proposes a Linear Quadratic Integral (LQI)-based compensator to be integrated downstream the torque supervisory algorithm, which role is to shape transient electric machine torques, compensating for the stiffness and backlash present in the vehicle while delivering the driver-requested wheel torque. The main strategy includes algorithms to control the non-linearity of backlash and techniques to handle the system when operating in its linear region. The overall logic outputs a shaped driver-demanded torque at the vehicle level capable of balancing drivability metrics considering all stiffness in the system. Other model-based techniques are presented and compared to the proposed solution to highlight its benefits.