Active vibration control of automotive drivetrains must be developed to compensate for the backlash of gears because it causes undesired responses. In addition, an engine used as an actuator has a constraint which makes the control periods longer and time-varying, resulting in deterioration of the control performance. The contribution of this study is to cope with all the issues described above, backlash and the control period constraint, simultaneously. First, a basic experimental device, which simplifies an actual vehicle to focus on the effect due to backlash, is demonstrated. In the device, the control period constraint, which is equivalent to that of an engine, is reproduced by a digital signal processor. To reduce an adverse effect due to the extension of the control period, the sampled-data controller, which does not require discretization in its implementation, is employed. In this paper, predictive processing using the servo-type sampled-data controller is proposed to compensate for the phase delay of the control input caused by the time-varying control period. In addition, a control mode switching technique included in the prediction suppresses undesired responses due to backlash. Finally, control experiments verify the effectiveness of the control system.

中文翻译：

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考虑时变长控制周期的带齿隙汽车动力传动系统振动主动控制

必须开发汽车传动系统的主动振动控制以补偿齿轮的齿隙，因为它会导致不希望的响应。此外，用作执行器的发动机具有使控制周期更长且随时间变化的约束，导致控制性能变差。本研究的贡献是同时处理上述所有问题，即反弹和控制期约束。首先，演示了一个基本的实验装置，它简化了实际车辆以关注由于后冲引起的影响。在该装置中，相当于发动机的控制周期约束由数字信号处理器再现。为了减少由于控制期延长造成的不利影响，采样数据控制器，它在其实现中不需要离散化，被采用。在本文中，提出了使用伺服型采样数据控制器的预测处理来补偿由时变控制周期引起的控制输入的相位延迟。此外，包含在预测中的控制模式切换技术抑制了由于间隙引起的不希望的响应。最后，控制实验验证了控制系统的有效性。