Patent ID: 8874297

Claim:
A method of controlling anti-jerk of a vehicle using power of a motor, the method comprising: outputting, by a controller, an actual speed of the motor; outputting, by the controller, a model speed of the motor; outputting, by the controller, a vibration component based on a deviation between the output motor speed and actual speed of the motor; high pass filtering, by the controller, the vibration component to remove an error component in the vibration component; delaying, by the controller, a phase of the filtered vibration component for a preset time to compensate for phase error occurring during the high pass filtering; and applying, by the controller, a preset gain to the filtered vibration component in which the phase is delayed for the preset time to generate an anti-jerk compensation torque, wherein the high pass filtering of the vibration component comprises removing, by the controller, an error component expressed by a function greater than a primary function, and high pass filtering the vibration component according to a following Laplace transform equation: H ⁡ ( s ) = a k ⁢ s k ∑ i = 0 k ⁢ a i ⁢ s i H ⁡ ( s ) ⁢ U ⁡ ( s ) = ⁢ a k ⁢ s k ∑ i = 0 k ⁢ a i ⁢ s i ⁢ ( k n s n + cs + d ( s + ζ ⁢ ⁢ ω n ) 2 + ( 1 - ζ 2 ⁢ ω n ) 2 ) = ⁢ k n ⁢ a k ⁢ s k - n ∑ i = 0 k ⁢ a i ⁢ s i + cs + d ( s + ζω n ) 2 + ( 1 - ζ 2 ⁢ ω n ) 2 ⁢ a k ⁢ s k ∑ i = 0 k ⁢ a i ⁢ s i ⁢ ⁢ ( k > n ) . wherein, H(s) is the high pass filter; a i , k are design parameters; ζ is a damping coefficient; ω n is a vibration component.