Torsional vibration analysis and active anti-disturbance decoupling control of duplex trident universal joints

To reduce the impact of additional torque caused by complex road conditions on the automotive driveline, a new type of automotive drive axle system connected by a trident-ball-cage duplex universal joint (DUCS) is used and analyzed for torsional vibration. The concentrated mass approach is employed to establish the dynamic model of DUCS, and the Lagrangian method is utilized to establish the vibration differential equations of DUCS. The higher-order Runge-Kutta algorithm as well as the filtering treatment are employed to address vibration responses of the system. Meanwhile, considering the strong coupling between the input and output axles, the active-disturbance (ADRC) decoupling control method is incorporated to reduce the system amplitude. The Fibonacci series is used to regulate the parameters of the expansion state observer (ESO) in it, and the bandwidth method is used to regulate the controller parameters to improve the efficiency of parameter regulation. The results show the usefulness of the approach to regulate the torsional vibration of DUCS.