Observability analysis and state observers for automotive powertrains with backlash: a hybrid system approach

Abstract

In this paper, the observability properties of automotive powertrains with backlash are analysed. We model the powertrain as a hybrid system in the piecewise affine form and use measurements of the torque and the angular speed of the engine for computing the maximal set of observable states. This set, that is usually non-convex and disconnected, captures in a precise way how the main variables and parameters of the driveline influence the possibility of estimating the shaft twist. Then, we show how to exploit the knowledge of observable states in order to build computationally efficient deadbeat observers for the reconstruction of the powertrain states.

Acknowledgments

This work has been partially done in the framework of the HYCON Network of Excellence, contract number FP6-IST-511368.

Notes

§Current affiliation: Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Pavia, Via Ferrata 1, 27100, Pavia, ITALY.

Additional information

Notes on contributors

Giancarlo Ferrari-Trecate§

§Current affiliation: Dipartimento di Informatica e Sistemistica, Universitá degli Studi di Pavia, Via Ferrata 1, 27100, Pavia, ITALY.