Abstract:
In this research work LQG (Linear-Quadratic-Gaussian) and PID based control design for
drive line of Electric vehicle is presented. People are more interested in Electric vehicles due
to their high performance and economy in running cost. Electric vehicle is considered as a
solution for energy and environment problems. Modern vehicles need a high degree of
refinement to meet customer demand. With recent research in automotive electronics it is
possible to electronically control a vehicle drive line.
Driveline oscillations is a phenomenon of fluctuating vehicle speed caused by torsional
vibrations in the vehicle drive line which results as jerks in the vehicle motion. These
oscillations result in uncomfortable vehicle ride which is contemporary research problem.
The control objective is to achieve steady state driveline in lesser time for this purpose LQG
based control is pursued with certain modification in vehicle dynamic model. LQG is
combination of kalman filter and linear quadratic regulator (LQR). Klaman filter estimate
system states as it is not possible to measure all states of system using expensive sensors and
LQR regulates torque demand to electric motor.
In this research based project, we have also designed torque management strategies using a
proportional–integral–derivative (PID) controller for traction and cruise control applications,
to damp out driveline oscillations actively, and to improve drivability of EVs considering
backlash as disturbance. Backlash is introduced in to the system to study the effect of
nonlinearity in system.
A model-based design approach has been adopted in this research since it can be used
effectively for designing, developing and prototyping of controllers. This project includes
driveline modeling, control design and verification by simulations. Results of simulation
show the considerable mitigation of oscillations. LQG and PID based control for driveline of
electric vehicle works very well
