A Robust Controller Design for Anti-Jerking

Modern Diesel engines with direct injection generate high engine torque already at low engine speed. This may cause torsion in the crankshaft of the vehicle which results in oscillations of the whole driveline. The objective of this article is to present a robust controller design concept that takes care of the parametric uncertainty present in the plant and prevents the driveline from oscillating, so-called Anti-Jerk Control.

The parameters of the state space model of the drivetrain are identified by measured data. As a measure of oscillations in the driveline the difference between engine speed and wheel speed is used. A H_∞ controller is designed using loop shaping and mixed sensitivity approach. The controller concept is evaluated on a test car with a diesel engine. Test results are presented.