Drive Line Control for Electrically Driven Vehicles Using Generalized Second Order Sliding Modes*

The drive shaft torque of an electrically driven vehicle is controlled using a generalized second order sliding mode algorithm. Due to the absence of torque sensors the shaft torque is estimated by means of a higher order unknown input sliding mode observer. The observability of the linear drive line model is analyzed by means of observability measures for two different sensor configurations. Based on these results the observer is designed using a reduced sensor set. The control concept is evaluated with a multi body simulation model of an electrically driven rear axle of a hybrid prototype vehicle with unknown backlash in the drive line.