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<p>In electric vehicles, motor oscillations within the frequency range of 5–50&#xa0;Hz frequently occur during tip-in and tip-out operations due to abrupt torque fluctuations and the nonlinear characteristics of vehicle drivetrains. To suppress such oscillations and enhance rider comfort, an anti-jerk controller is employed. The anti-jerk controller suppresses oscillations by generating a compensation torque reference that is in phase opposition to the oscillation and adding it to the motor torque reference. In the conventional motor speed-based anti-jerk controller, the phase mismatch between the oscillation and the anti-jerk compensation torque reference may lead to a reduction in the oscillation suppression effectiveness. In this paper, a speed-based anti-jerk controller with the zero-crossing method is proposed. The proposed method estimates the oscillation frequency using the zero-crossing method and applies online phase compensation, achieving high oscillation attenuation compared to the conventional method. The proposed method is validated through experimental results that confirm the effectiveness of the proposed method.</p>

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Design of anti-jerk controller using zero-crossing method for electric vehicles

  • 期刊论文

  • 发表日期：

    2025年7月15日

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  • Sunjae Han,
  • Taehoon Chin,
  • Myungjoon Nam,
  • Seungil Choi,
  • Younghoon Cho

摘要

In electric vehicles, motor oscillations within the frequency range of 5–50 Hz frequently occur during tip-in and tip-out operations due to abrupt torque fluctuations and the nonlinear characteristics of vehicle drivetrains. To suppress such oscillations and enhance rider comfort, an anti-jerk controller is employed. The anti-jerk controller suppresses oscillations by generating a compensation torque reference that is in phase opposition to the oscillation and adding it to the motor torque reference. In the conventional motor speed-based anti-jerk controller, the phase mismatch between the oscillation and the anti-jerk compensation torque reference may lead to a reduction in the oscillation suppression effectiveness. In this paper, a speed-based anti-jerk controller with the zero-crossing method is proposed. The proposed method estimates the oscillation frequency using the zero-crossing method and applies online phase compensation, achieving high oscillation attenuation compared to the conventional method. The proposed method is validated through experimental results that confirm the effectiveness of the proposed method.