Engine and motor control during wheel torque reversal in a hybrid vehicle
A system and method for controlling a hybrid vehicle having an engine selectively coupled by an upstream clutch to an electric machine, which is selectively coupled by a downstream clutch to a step-ratio transmission, include at least one controller programmed to control the engine and the electric machine in response to entering a lash zone in anticipation of a wheel torque reversal to adjust a gain applied to an active motor damping torque controller to reduce driveline oscillations and backlash.
1. A vehicle comprising:
an engine selectively coupled by an upstream clutch to an electric machine, which is selectively coupled by a downstream clutch to a step-ratio transmission; and
at least one controller programmed to control the engine and the electric machine in response to entering a lash zone in anticipation of a wheel torque reversal to adjust a gain applied to an active motor damping torque controller to reduce driveline oscillations and backlash, wherein the at least one controller reduces the gain prior to a zero torque point where meshing gear teeth of driveline components are floating.
2. The vehicle of claim 1 wherein the gain is linearly reduced.
3. The vehicle of claim 1 wherein the at least one controller increases the gain after a zero torque point where meshing gear teeth of driveline components are floating.
4. The vehicle of claim 3 wherein the gain is linearly increased.
5. The vehicle of claim 1 wherein the at least one controller is programmed to adjust the gain applied to an active motor damping torque controller that controls electric machine torque to counteract powertrain speed oscillations and drive a measured electric machine speed toward a desired electric machine speed using a damping function based on a difference between the measured and desired electric machine speeds.
6. The vehicle of claim 1 wherein the at least one controller adjusts the gain based on an engine torque estimate, an electric machine torque estimate, and a torque ratio of the step-ratio transmission.
7. The vehicle of claim 6 wherein the at least one controller adjusts the gain further based on input and output speeds of the step-ratio transmission and vehicle wheel speed.
8. The vehicle of claim 1 wherein the at least one controller is further programmed to adjust the gain so that no torque is requested from the electric machine when the driveline torque passes through a zero torque point where meshing gear teeth of driveline components are floating.
9. The vehicle of claim 1 wherein the at least one controller is programmed to identify the lash zone based on a change in accelerator pedal position and a torque ratio of the step-ratio transmission.
10. The vehicle of claim 1 wherein the downstream clutch is disposed within a torque converter of the step-ratio transmission.
11. A method for controlling a vehicle having an engine, an electric machine, and a transmission, comprising:
in response to: a change in driver demanded torque; and input torque to the transmission approaching zero, reducing at least one gain of an electric machine torque feedback controller to control torque of the electric machine through a lash region associated with a driveline or wheel torque reversal.
12. The method of claim 11 wherein adjusting at least one gain comprises reducing the at least one gain.
13. The method of claim 11 wherein reducing at least one gain further comprises adjusting the at least one gain in response to a torque ratio of the transmission.
14. The method of claim 11 further comprising, in response to the input torque to the transmission passing a zero torque crossing, increasing the at least one gain.
15. The method of claim 11 wherein reducing at least one gain further comprises reducing the at least one gain to zero.
16. A non-transitory computer readable storage medium having stored instructions executable by a vehicle controller to control a vehicle having an engine, a traction motor, and a transmission, comprising instructions for:
adjusting a gain of a traction motor feedback controller in response to a change in driver demanded torque anticipated to result in a driveline torque reversal or a wheel torque reversal; and
reducing the gain in response to an increase in driver demanded torque and transmission input torque approaching zero.
17. The non-transitory computer readable storage medium of claim 16 further comprising instructions that increase the gain in response to the transmission input torque passing through zero.
18. The non-transitory computer readable storage medium of claim 16 further comprising instructions for reducing the gain to zero as the transmission input torque approaches zero.