Estimation of backlash with application to automotive powertrains

In rotating systems, backlash imposes limitations on the quality of control. Automotive powertrains is an example where this is a well-known limitation. In order to increase the controller performance, knowledge of the backlash properties (size and current position) is needed. In this paper, nonlinear estimators for backlash size and position are described, both based on Kalman filtering theory. The size and position estimators are combined, and the result is an estimate of the state of the backlash. This information can be used in feedback control of the rotating system. Simulation and experimental results show that the estimates are of high quality, and robust to modelling errors.