Backlash Traversal Control for Electric Vehicles under tip-In Conditions

The presence of backlash in the driveline can significantly reduce driving comfort under tip-in conditions, further exacerbating the working environment of the driveline. To address this issue, a control switching algorithm is proposed here utilizing a state observer to monitor the backlash angle position so as to determine the switching timing. Model Predictive Control (MPC) is employed to balance driving comfort and acceleration performance during traversal process, while Linear Quadratic Regulator (LQR) is utilized to suppress driveline torsional vibration after backlash is eliminated. Ultimately, the proposed controller is compared with simulation and a representative non-model-based controller, Active Disturbance Rejection Control (ADRC). Under the designed comprehensive evaluation criteria for driving comfort and acceleration performance, the proposed controller demonstrates superior control effectiveness.