Beobachtung der Verdrillung in einem Kfz-Antriebsstrang mit Lose (Observing the Torque of a Powertrain with Backlash)

The driving comfort of automobiles can be improved, if the torque transmission in the powertrain is controlled. Practically, not all system states are available by measurements to cope with this control task. Therefore, the design of a new nonlinear observer based on a simplified nonlinear powertrain model of the system order three is introduced in this contribution. This observer uses the measured rotation speed of the engine and of the drive wheels to estimate the torque angle of the powertrain. The stability of the presented observer is shown by the application of the Popov-criterion and Aiserman's assumption. Finally, the performance of the observer will be demonstrated using simulation data of a complex powertrain model.