An analytical model of a double cardan shaft driveline is presented. The model has been derived by using a Lagrangian dynamics formulation and it includes description of the torsion flexibility of the shafts. The cardan shaft model is used in a coupled simulation with a direct torque controlled permanent magnet synchronous motor. Mechanical and electrical non-idealities affecting the dynamics of the driveline are studied. The modeled non-idealities include unequal joint angles, incorrect phasing of the cardan joints and current measurement errors in the supply of the electric motor. The results show that the control system of the electric drive tries to correct the transmission error caused by the mechanical non-idealities. This in turn leads to fluctuating torque and undesirable dynamic loads.

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