Dual-Axle Torque Control Using Sum-Difference Vibration Decoupling
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Solution Overview
Problem
Existing vehicle control systems face complexity in suppressing vibrations on left and right axles due to interference between feed-forward and feed-back controls, especially when transitioning between straight and cornering states, complicating the control configuration and reducing controllability.
Innovation Solution
A vehicle control device and method that utilizes a combination of feed-forward and feed-back controls, employing separate sum and difference models to isolate vibrations in straight and cornering states, using equivalent sum and difference values to calculate instruction torques for each axle, thereby avoiding interference and enhancing vibration suppression.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If separate controls are constructed for left and right driving systems to suppress vibrations in straight and cornering states, then vibration suppression effectiveness is improved, but control configuration complexity increases
Solution Approach 1:
The control system segments vibration suppression into two independent channels: sum mode (for straight running) and difference mode (for cornering). By calculating equivalent sum and difference values separately and applying dedicated control strategies to each mode, the system achieves effective vibration suppression for both straight and cornering states without requiring complex coupled control configurations.
Solution Approach 2:
The patent transforms the control problem from a two-dimensional approach (separate left and right axle controls) to a three-dimensional approach by adding the sum/difference mode dimension. This allows the system to handle both straight and cornering vibrations simultaneously through equivalent sum and difference value calculations, achieving comprehensive vibration suppression with a unified control framework.
2Reliability
If feed-forward and feed-back controls are combined to enhance vibration suppression, then vibration suppression effect is improved, but control interference increases
Solution Approach 1:
The control system segments the feed-forward and feed-back control actions into separate sum mode and difference mode channels. The equivalent sum value handles feed-forward control for straight running vibrations, while the equivalent difference value handles feed-back control for cornering vibrations. This segmentation prevents interference between the two control types by ensuring they operate in independent modal spaces.
Solution Approach 2:
The equivalent sum and difference values act as intermediaries that decouple the feed-forward and feed-back control paths. By transforming the control inputs through these equivalent values, the system mediates between the two control types, allowing them to work together without direct interference while still achieving enhanced vibration suppression.
Data Source
AI summary
A control device (10) includes: a first calculator (11) that calculates a first equivalent sum value corresponding to a sum of left and right requested torques and a first equivalent difference value corresponding to a difference between the left and right requested torques; a first controller (13) that outputs a first instruction torque by performing a FF control using the first equivalent sum value and the first equivalent difference value; an estimator (14) that estimates, based on the first instruction torque, an estimated sum speed corresponding to a sum of estimated speeds of left and right driving sources (2) and an estimated difference speed corresponding to a difference between the two estimated speeds; a second calculator (15) that calculates a second equivalent sum value corresponding to a sum of two actual speeds of the left and right driving sources (2) and a second equivalent difference value corresponding to a difference between the two actual speeds; a second controller (16) that outputs a second instruction torque by performing a FB control based on a gap between the second equivalent sum value and the estimated sum speed or a gap between the second equivalent difference value and the estimated difference speed; and a third controller (17) that controls outputs of the left and right driving sources (2), using the first and second instruction torques.