4.5. Demanded Torque Filtering Controller - DmdTqFil

• Overview

• Functions

• Ports

• Parameters

• Configuration Guide

Id	DmdTqFil
Version	0.5.0.0
Title	Demanded Torque Filtering Controller
System	Drivetrain
Document Type	Application Software Component Specification Preview

4.5.1. Overview

The software component provides filtering and rate limiting functionalities to the torque demand. It includes features such as immediate regenerative torque handling, backlash compensation and tunable torque filter to customise the driving experience.

4.5.2. Functions

Title	Description
Demanded Torque Filtering	Filters and rate limits the demanded torque signal based on various conditions and configurations.
Immediate Regenerative Torque Handling	Handles immediate regenerative torque requests based on thresholds and conditions.
Backlash Compensation	Compensates for mechanical backlash during torque demand transitions.
Drive Mode Tuning	Applies drive mode-specific tuning parameters for torque filtering and rate limiting.

4.5.3. Ports

	Id	Direction	Data Type	Dimensions	Unit	Description	Keywords
1	Ts	Incoming	single	[1]	s		Ts
2	VehTqDmd	Incoming	single	[1]	N*m	Expected signal: Vehicle torque demand If signal si NA: mandatory.	Vehicle Torque Demand
3	VehLgtSpd	Incoming	single	[1]	km/h	Expected signal: Vehicle speed If signal si NA: mandatory.	Vehicle Longitudinal Speed
4	TqDmdImdtReq	Incoming	boolean	[1]	inherit	Expected signal: Drive torque demand (override request for fast action) If signal si NA: False if override is not needed.	Torque Demand Immediate Request
5	TqRgnImdtReq	Incoming	boolean	[1]	inherit	Expected signal: Regenerarive torque demand (override request for fast action) If signal si NA: False if override is not needed.	Torque Regeneration Immediate Request
6	PedlMap	Incoming	uint8	[1]	inherit	Expected signal: Selected pedal map If signal si NA: mandatory. Uint8(0)	Pedal Map
7	VehTqFb	Incoming	single	[1]	N*m	Expected signal: Vehicle torque feedback (e.g. from actual vehicle torque requested) If signal si NA: mandatory. Any reasonable low enough positive value	Vehicle Torque Feedback
8	DmdtqfVehTqDmdFild	Outgoing	single	[1]	N*m		Dmdtqf Vehicle Torque Demand Filtered
9	DmdtqfTqDmdImdtFlg	Outgoing	boolean	[1]	inherit		Dmdtqf Torque Demand Immediate Flag
10	DmdtqfLogInfo	Outgoing	single	[4]	inherit		Dmdtqf Log Information

4.5.4. Parameters

	Id	Data Type	Dimensions	Range	Unit	Description	Keywords
1	DmdtqfTqFilBndBiasPedlMap1	single	[1,1]	Min: -10, Max: 10		Pedal Map 1 Offset for Filter Bandwidth	Dmdtqf Torque Filter Band Bias Pedal Map1
2	DmdtqfTqFilBndBiasPedlMap2	single	[1,1]	Min: -10, Max: 10		Pedal Map 2 Offset for Filter Bandwidth	Dmdtqf Torque Filter Band Bias Pedal Map2
3	DmdtqfTqFilBndBiasPedlMap3	single	[1,1]	Min: -10, Max: 10		Pedal Map 3 Offset for Filter Bandwidth	Dmdtqf Torque Filter Band Bias Pedal Map3
4	DmdtqfTqFilBndBiasPedlMap4	single	[1,1]	Min: -10, Max: 10		Pedal Map 4 Offset for Filter Bandwidth	Dmdtqf Torque Filter Band Bias Pedal Map4
5	DmdtqfTqFilBndBiasPedlMap5	single	[1,1]	Min: -10, Max: 10		Pedal Map 5 Offset for Filter Bandwidth	Dmdtqf Torque Filter Band Bias Pedal Map5
6	DmdtqfTqRateLimGainPedlMap1	single	[1,1]	Min: 0, Max: 10		Pedal Map 1 Scaling Factor for Demanded Torque Rate Limiter	Dmdtqf Torque Rate Limit Gain Pedal Map1
7	DmdtqfTqRateLimGainPedlMap2	single	[1,1]	Min: 0, Max: 10		Pedal Map 2 Scaling Factor for Demanded Torque Rate Limiter	Dmdtqf Torque Rate Limit Gain Pedal Map2
8	DmdtqfTqRateLimGainPedlMap3	single	[1,1]	Min: 0, Max: 10		Pedal Map 3 Scaling Factor for Demanded Torque Rate Limiter	Dmdtqf Torque Rate Limit Gain Pedal Map3
9	DmdtqfTqFilBndGainPedlMap1	single	[1,1]	Min: 0, Max: 10		Pedal Map 1 Scaling Factor for Filter Bandwidth	Dmdtqf Torque Filter Band Gain Pedal Map1
10	DmdtqfTqFilBndGainPedlMap2	single	[1,1]	Min: 0, Max: 10		Pedal Map 2 Scaling Factor for Filter Bandwidth	Dmdtqf Torque Filter Band Gain Pedal Map2
11	DmdtqfTqFilBndGainPedlMap3	single	[1,1]	Min: 0, Max: 10		Pedal Map 3 Scaling Factor for Filter Bandwidth	Dmdtqf Torque Filter Band Gain Pedal Map3
12	DmdtqfTqFilBndGainPedlMap4	single	[1,1]	Min: 0, Max: 10		Pedal Map 4 Scaling Factor for Filter Bandwidth	Dmdtqf Torque Filter Band Gain Pedal Map4
13	DmdtqfTqFilBndGainPedlMap5	single	[1,1]	Min: 0, Max: 10		Pedal Map 5 Scaling Factor for Filter Bandwidth	Dmdtqf Torque Filter Band Gain Pedal Map5
14	DmdtqfTqRateLimGainPedlMap5	single	[1,1]	Min: 0, Max: 10		Pedal Map 5 Scaling Factor for Demanded Torque Rate Limiter	Dmdtqf Torque Rate Limit Gain Pedal Map5
15	DmdtqfTqRateLimGainPedlMap4	single	[1,1]	Min: 0, Max: 10		Pedal Map 4 Scaling Factor for Demanded Torque Rate Limiter	Dmdtqf Torque Rate Limit Gain Pedal Map4
16	DmdtqfLnrTqFilEna	boolean	[1,1]	Min: 0, Max: 1		Linear Demanded Torque Filter Enable: 0 - disable, 1 - enable	Dmdtqf Linear Torque Filter Enable
17	DmdtqfRisngTqRateLimTblDa	single	[8,8]	Min: 0, Max: 65535	N*m/s	Riging Torque Rate Limit configuration Table Data: UpprTqRateLimTblDa(VehTq, VehSpd)	Dmdtqf Rising Torque Rate Limit Table Data
18	DmdtqfTqFilBndTblDa	single	[8,8]	Min: 0, Max: 100	rad/s	Torque Filter Bandwidth (inverse Time Constant) calibration Table Data as function of Torque (rows) and Speed (columns)	Dmdtqf Torque Filter Band Table Data
19	DmdtqfRisngTqRateLimVehTqBreakPnt	single	[1,8]	Min: -32767, Max: 32767	N*m	Torque Breakpoint Data for Rising Torque Rate Limits calibration table	Dmdtqf Rising Torque Rate Limit Vehicle Torque Break Point
20	DmdtqfFallTqRateLimVehTqBreakPnt	single	[1,8]	Min: -32767, Max: 32767	N*m	Torque Breakpoint Data for Falling Torque Rate Limits calibration table	Dmdtqf Falling Torque Rate Limit Vehicle Torque Break Point
21	DmdtqfFallTqRateLimTblDa	single	[8,8]	Min: 0, Max: 65535	N*m/s	Falling Torque Rate Limit configuration Table Data: LowrTqRateLimTblDa(VehTq, VehSpd)	Dmdtqf Falling Torque Rate Limit Table Data
22	DmdtqfTqFilBndTblVehSpdBreakPnt	single	[1,8]	Min: 0, Max: 300	km/h	Vehicle Speed Breakpoint Data for Torque Filter calibration table	Dmdtqf Torque Filter Band Table Vehicle Speed Break Point
23	DmdtqfTqFilBndTblVehTqBreakPnt	single	[1,8]	Min: -32760, Max: 32765	N*m	Torque Breakpoint Data for Torque Filter calibration table	Dmdtqf Torque Filter Band Table Vehicle Torque Break Point
24	DmdtqfTqRateLimTblVehSpdBreakPnt	single	[1,8]	Min: 0, Max: 300	km/h	Vehicle Speed Breakpoint Data for Torque Rate Limits calibration table	Dmdtqf Torque Rate Limit Table Vehicle Speed Break Point

4.5.5. Configuration Guide

The DmdTqFil is responsible for processing torque demand signals by applying filtering, rate limits, and drive mode-specific adjustments.
This ensures smooth torque transitions, drivability, and responsiveness tailored to vehicle conditions.

4.5.5.1. Step 1 - Calibrate Linear Torque Filter

• Enable linear torque filter
  Linear torque filter is enabled by setting DmdtqFLnrTqFilEna.
  

• Set up the linear torque filter lookup table data
  Configure torque filter bandwidth using DmdtqTqFilBndTblDa, which defines lookup table data.
  Set vehicle torque breakpoints for filter bandwidth table using DmdtqTqFilBndTblVehTqBreakPnt.
  Set vehicle speed breakpoints for filter bandwidth table using DmdtqTqFilBndTblVehSpdBreakPnt.
  

4.5.5.2. Step 2 - Calibrate Torque Rate Limits

Control the rate at which torque demand can change to prevent sudden spikes or drops, ensuring smoother transitions during acceleration and deceleration.

• Configure rising torque rate limit lookup table
  Configure rising torque rate limit behavior using DmdtqTRisngTqRateLimTblDa.
  Set vehicle torque breakpoints for rising torque rate limits using DmdtqTRisngTqRateLimVehTqBreakPnt.
  Define vehicle speed breakpoints for torque rate limiting with DmdtqTqRateLimTblVehSpdBreakPnt.
  

• Configure rising torque rate limit lookup table
  Configure falling torque rate limit behavior using DmdtqTFallTqRateLimTblDa.
  Set vehicle torque breakpoints for falling torque rate limits using DmdtqTFallTqRateLimVehTqBreakPnt.
  Vehicle speed breakpoints for torque rate limiting are common for rising and falling torques, see DmdtqTqRateLimTblVehSpdBreakPnt.
  

4.5.5.3. Step 3 - Configure Drive Mode Adjustments for Torque Filter

Adjust torque filtering behavior based on drive mode by setting up bias and gain parameters to control responsiveness and smoothness.
Set bias values for different drive modes using DmdtqTqFilBndBiasPedlMap1–5, with each parameter corresponding to the Acceleration Pedal Map selected.
Configure torque filter bandwidth gain-adjustments using DmdtqTqFilBndGainPedlMap1–5, with each parameter corresponding to the Acceleration Pedal Map selected Adjust rate limit gain mapping based on drive modes using DmdtqTqRateLimGainPedlMap1–5.