Adaptive robust control of powertrain active mount system considering uncertainty

Abstract

The Powertrain Active Mount System (PAMS) is the core component that damps the automotive powertrain, directly affecting the driving comfort of the vehicle. The active mount system adjusts the stiffness and damping of the mount system by controlling the electromagnetic output force of the actuator, making it a typical underactuated system. This underactuated system is prone to interference and is sensitive to parameters, which is particularly prominent in the current development of powertrains, which poses high requirements for control. Therefore, this paper proposes an adaptive robust control method. First, a model of an underactuated system is established, we express it in the form of the Udwadia-Kalaba (U-K) equation and provide the control objective, which is to make the acceleration of the vehicle frame equal to 0. And based on this, a nominal controller p₁ for the underactuated system is designed. The uncertainty is decomposed into matched and mismatched components, and on this basis, p₂ is designed to address the uncertainty of the initial state of the active mount control. For the issues of parameter uncertainty and external interference, p₃ is designed and an adaptive law is introduced to achieve adaptive adjustment of the control parameters. Finally, simulation analysis is conducted for different control methods. The results show that the proposed control method exhibits significant robustness in handling road surface disturbances, initial condition uncertainties, and mass parameter uncertainties. It effectively improves the vibration reduction effect and dynamic response accuracy of the PAMS and verifying the effectiveness of the controller.