TABLE OF CONTENTS A vehicular power train consists of engine and driveline. The main parts of the driveline are clutch, transmission, shafts and wheels. The driveline is a fundamental part of a vehicle and its dynamics has been modeled in different ways depending on the purpose. The frequency range important for control is the regime including the lowest resonance modes of the driveline [85, 95]. Vibrations and noise contribute to a higher frequency range [120, 37] which is not treated here.
Section 7.1.1 covers the derivation of basic equations describing a driveline. An illustrative example is presented in Section 7.1.4. Experiments are performed with a Scania heavy truck. The aim of the modeling is to find the most important physical effects explaining the oscillations in the measured engine speed, transmission speed, and wheel speed. The models are combinations of rotating inertias connected by damped shaft flexibilities. The generalized Newton's second law is used to derive the models. The main part of the experiments used for modeling considers low gears. The reason for this is that the lower the gear is, the higher the torque transferred in the drive shaft is. This means that the shaft torsion is higher for lower gears, and hereby also the problems with oscillations.
Furthermore, the amplitudes of the resonances in the wheel speed arc higher for lower gears, since the load and vehicle mass appear reduced by the high conversion ratio.
Section 7.2 treats the modeling when the driveline is separated in two parts, which...
