Mitigation of vehicle vibrations induced by drive-line oscillations
An electric motor controller is equipped to mitigate drive line induced vehicle vibration. The motor speed is measured at the output of the motor, separately from any measurement of drive shaft or wheel speed. At least bandpass filtering is applied to the measured motor speed, at a pass band based on the natural frequency of the drive shaft. The filtering detects drive line induced oscillations of the motor speed. A controller uses the detected drive line induced oscillations to generate an oscillation control output, subject to limiting. An oscillation mitigation torque signal corresponding to the control output is added to a torque command for desired motor speed, to adjust for the oscillations. The adjusted torque command is used to control the motor, with a significant reduction in the oscillation of the motor's speed.
1 . A method for controlling drive line oscillation for a motor of a vehicle having a vehicle data bus, the method comprising:
measuring, using a sensor coupled to the vehicle data bus, motor speed at an output of the motor;
filtering, using at least one filter, the measured motor speed to detect an oscillation signal corresponding to drive line induced oscillations in the motor speed;
combining, using a first signal combiner, the oscillation signal of the at least one filter and a target drive line oscillation,
using a motor controller coupled to an output of the first signal combiner to control a signal based on the detected oscillation signal, and derive an output corresponding to a desired dampening of the drive line induced oscillations in motor speed;
providing, using the motor controller, an oscillation mitigation torque signal based on the desired dampening of the drive line induced oscillations in motor speed;
adding, using a second signal combiner, the oscillation mitigation torque signal to a torque command for desired motor speed, to generate an adjusted torque command; and
controlling the motor based on the adjusted torque command;
the at least one filter, the first signal combiner, the motor controller, and the second signal combiner defining a motor control network coupled to the vehicle data bus.
2 . The method according to claim 1 , wherein using the motor controller comprises using the motor controller to apply one of a proportional and proportional-integral control to the signal.
3 . The method according to claim 1 , further comprising limiting the output corresponding to the desired dampening of the drive line induced oscillations in motor speed, to generate the oscillation mitigation torque signal.
4 . The method according to claim 1 , wherein measurement of the motor speed at the output of the motor is separate from any measurement of shaft speed or wheel speed.
5 . The method according to claim 1 , wherein filtering the measured motor speed comprises filtering the measured motor speed using a bandpass filter having a pass band based on a natural drive shaft resonance frequency.
6 . The method according to claim 5 , wherein the pass band for the bandpass filter is based on 8 Hertz.
7 . The method according to claim 1 , wherein filtering the measured motor speed further comprises filtering the measured motor speed using a high pass filter.
8 . The method according to claim 1 , wherein providing the oscillation mitigation torque comprises providing the oscillation mitigation torque based upon subtracting the oscillation signal from the target drive line oscillation.
9 . The method according to claim 8 , wherein the target drive line oscillation is zero.
10 . The method according to claim 1 , wherein the motor comprises an electric motor.
11 . A motor control system for a motor of a vehicle having a vehicle data bus, the motor control system comprising:
a sensor coupled to the vehicle data bus and configured to measure motor speed at an output of the motor;
at least one filter coupled to the sensor and configured to filter the measured motor speed to detect an oscillation signal corresponding to drive line induced oscillations in the motor speed;
a first signal combiner configured to combine the oscillation signal and a target drive line oscillation;
a torque controller coupled to the first signal combiner and configured to cooperate therewith to
control a signal based on the detected oscillation signal, and
derive an output corresponding to a desired dampening of the drive line induced oscillations in motor speed; and
a second signal combiner coupled to the output of the torque controller and configured to
receive an oscillation mitigation torque signal from the torque controller based on the desired dampening of the drive line induced oscillations in motor speed,
add the oscillation mitigation torque signal to a torque command for desired motor speed, to generate an adjusted torque command, and
generate a control signal for controlling the motor based on the adjusted torque command;
the at least one filter, the first signal combiner, the torque controller, and the second signal combiner defining a motor control network coupled to the vehicle data bus.
12 . The system according to claim 11 , wherein the torque controller is configured to apply one of a proportional and proportional-integral control to the signal based on the detected oscillation signal.
13 . The system according to claim 11 , further comprising a limiter configured to limit the output corresponding to the desired dampening of the drive line induced oscillations in motor speed, to generate the oscillation mitigation torque signal.
14 . The system according to claim 11 , wherein measurement of the motor speed at the output of the motor is separate from any measurement of shaft speed or wheel speed.
15 . The system according to claim 11 , wherein the at least one filter comprises a bandpass filter having a pass band based on a natural drive shaft resonance frequency.
16 . The system according to claim 15 , wherein the pass band for the bandpass filter is based on 8 Hertz.
17 . The system according to claim 11 , wherein the at least one filter further comprises a high pass filter.
18 . The system according to claim 11 , wherein the torque controller is configured to generate the oscillation mitigation torque signal based upon subtracting the oscillation signal from the target drive line oscillation.
19 . The system according to claim 18 , wherein the target drive line oscillation is zero.
20 . The system according to claim 11 , wherein the motor comprises an electric motor.