US 12,325,308 B2
Method and system for controlling anti-jerk of xEV vehicle
Woo Cheol Cho, Hwaseong-si (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed on Oct. 6, 2022, as Appl. No. 17/960,934.
Claims priority of application No. 10-2021-0191755 (KR), filed on Dec. 29, 2021.
Prior Publication US 2023/0202308 A1, Jun. 29, 2023
Int. Cl. B60W 50/00 (2006.01); B60L 15/20 (2006.01); B60L 50/61 (2019.01); B60L 58/10 (2019.01); B60W 10/08 (2006.01); B60W 20/13 (2016.01); B60W 30/20 (2006.01); H02P 23/00 (2016.01)
CPC B60L 15/20 (2013.01) [B60L 58/10 (2019.02); H02P 23/0022 (2013.01); B60L 2240/421 (2013.01); B60L 2240/423 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling anti jerk of an xEV vehicle using power of a motor, the method comprising:
determining whether a region is a backlash region where a direction of output torque of the motor is changed due to driving or regenerative switching;
determining a model speed of the motor and an actual motor speed of the motor;
low-pass filtering an impact component to remove an error component including the impact component from the determined actual motor speed when the region is determined to be the backlash region as a result of the determining whether a region is a backlash region;
determining a correction factor through monitoring of the output torque;
determining a corrected model speed in which an impact in the backlash region is reflected by collecting the low-pass filtered corrected motor speed, the correction factor, the model speed, and the actual motor speed;
extracting a vibration component based on deviation between the determined corrected model speed and the actual motor speed;
high-pass filtering the vibration component to remove an error component included in the vibration component;
phase-delaying the filtered vibration component for a predetermined time period to compensate for phase antecedence occurring when the vibration component is high-pass filtered; and
generating an anti-jerk compensation torque by applying a set gain value to the filtered vibration component to which set time phase delay is applied.