Vehicles using e-Axles have increased in popularity owing to their simplicity of design and lower cost. However, riding comfort is affected by vibration from mechanical components. To suppress vibration in electric vehicles, a controller design based on frequency response function (FRF) measurement can be utilized. However, such a controller design requires long, well-maintained courses for low-frequency signal excitation. In contrast, test benches employing low-inertia dynamometers can quickly reproduce the tire friction force and be used for FRF measurements. In this study, we performed FRF measurements of an actual vehicle on a test bench to design a phase stabilization controller for vibration suppression and evaluated the performance on the test bench and actual roads. The controller was designed based on the sensitivity function and human sensitivity. The resonant frequencies in the slip environment shifted upward relative to those in the grip environment on both the test bench and actual roads due to the change in slip ratio. Compared with conventional control, the controller designed on the test bench suppressed vibration at the resonant frequency by more than 15 dB on the grip and slip roads. Therefore, the proposed controller design, developed on the test bench, can reduce rework in model-based development.
Oda et al. (Thu,) studied this question.