Clunk and shuffle management in multi-motor, multi-axle electrified drivetrains
Methods and systems are provided for a drivetrain system comprising: a first prime mover for supplying a torque to a front axle; a second prime mover for supplying a torque to a rear axle; and a controller configured to, in response to a torque reversal, command the front axle and the rear axle to cross lash zones sequentially.
1. A drivetrain system, comprising:
a first electric motor for supplying a torque to a front axle;
a second electric motor for supplying a torque to a rear axle; and
a controller configured to, in response to a torque reversal, command the front axle and the rear axle to cross lash zones sequentially,
wherein the front axle and the rear axle are independent of one another, and the first electric motor is drivingly coupled only to the front axle and the second electric motor is drivingly coupled only to the rear axle.
2. The drivetrain system of claim 1 , wherein the controller is further configured to adjust one of the first electric motor and the second electric motor to overshoot a torque command for a controlled duration to compensate for a lash crossing, and wherein the first electric motor and the second electric motor have independently controlled torque, power, and speed.
3. The drivetrain system of claim 1 , wherein the response to the torque reversal includes compensating for a lash of the front axle using the second electric motor and compensating for a lash of the rear axle using the first electric motor.
4. The drivetrain system of claim 3 , wherein the front axle and the rear axle are separate.
5. The drivetrain system of claim 4 , wherein during a first condition the front axle crosses a lash zone first and during a second condition the rear axle crosses the lash zone first.
6. The drivetrain system of claim 5 , wherein the torque reversal is from negative torque to positive torque with regard to a direction of forward travel of a vehicle where forward is defined by the direction a driver is facing when seated in a driver seat.
7. The drivetrain system of claim 6 , wherein a rate of change of torque of an axle transitioning first through the lash zone is greater than the rate of change of torque of the axle transitioning second through the lash zone.
8. The drivetrain system of claim 7 , wherein a torque distribution ratio of the front axle to the rear axle is adjusted differently during lash transition as compared to the torque distribution ratio before and/or after the lash transition.
9. The drivetrain system of claim 8 , wherein the response to the torque reversal includes adjusting the axle transitioning second through the lash zone based on torque limits of the electric motor of the axle transitioning first through the lash zone.
10. The drivetrain system of claim 9 , wherein the response to the torque reversal includes increasing the torque to the first electric motor compensating for a lash transition of the rear axle for a duration or increasing the torque to the second electric motor compensating for the lash transition of the front axle for a duration.
11. The drivetrain system of claim 10 , wherein the first controller controls a speed of lash transition for the front axle using feedback control from one or more sensors of the first electric motor and a second controller controls the speed of lash transition for the rear axle using feedback control from one or more sensors of the second electric motor.
12. A method for a drivetrain system having a first electric motor for supplying a torque to a front axle and a second electric motor for supplying a torque to a rear axle, comprising:
during a first driving mode and a tip-out condition,
controlling the first electric motor to provide positive torque and the second electric motor to provide negative torque, the sum of the negative torque and the positive torque electronically controlled to be equal to a total driver demand torque, wherein the front axle and the rear axle are independent of one another.
13. The method of claim 12 , further comprising, responsive to a tip-in, providing a faster torque response from the electric motor already providing positive torque.
14. The method of claim 13 , further comprising transitioning the electric motor providing negative torque to providing positive torque through a lash region after providing the faster torque response from the electric motor already providing positive torque.
15. The method of claim 14 , wherein the first driving mode is a sport mode.
16. A method for a drivetrain system having a first electric motor for supplying a torque to a front axle and a second electric motor for supplying a torque to a rear axle, comprising:
during a first driving mode and a tip-out condition,
electronically controlling the first electric motor to provide negative torque and the second electric motor to provide positive torque, the sum of the negative torque and the positive torque equal to a total driver demand torque; and
during a second driving mode and the tip-out condition,
controlling the first electric motor to provide a first negative torque and the second electric motor to provide a second negative torque, the sum of the first negative torque and the second negative torque equal to the total driver demand torque; and
selecting one of the front axle or the rear axle to transition a lash first based on a torque capacity of the first electric motor, the torque capacity of the second electric motor, and a driver tip-in magnitude.
17. The method of claim 16 , wherein the first driving mode is a sport mode and the second driving mode is an economy mode.
18. The method of claim 17 , wherein the front axle and the rear axle are independent of one another.
19. The method of claim 18 , wherein during transition through the lash of the selected one of the front axle and the rear axle, the electric motor of the selected axle is adjusted to overshoot a torque command for a controlled duration to compensate for the lash transition.
20. The method of claim 19 , wherein the first electric motor and the second electric motor have independently controlled torque, power, and speed.