AN ADVANCED PD-CONTROLLER FOR TIPIN/OUT CONTROL OF A HEAVY TRUCK

Sudden changes in the engine torque (so called Tipin/out) lead to uncomfortable driveline oscillations. However, an integrated controller for reduction of oscillations often restricts the dynamical behavior.In this approach an advanced PD-controller is presented which enables a Tipin/out which is highly comfortable as well as dynamic.Therefore, a simple model of the driveline is introduced, which helps to design a control algorithm. By nonlinear preprocessing of a convenient control variable the performance of a common PD-controller is increased. A dynamic limit of the controller is useful to obtain the desired comfort.The results evaluated in simulation and in road tests show a very good performance.