Hybrid vehicle
One axle of a hybrid vehicle is powered by an electric motor while a second axle of the vehicle is powered by a powertrain that includes an internal combustion engine. The electrically driven axle can be controlled in a speed control mode or in a torque control mode based on a driver demanded torque. The speed control mode is used when slip is detected at the electrically driven axle. The torque control mode is used when the electrically driven axle has traction. During a transition between these modes, the rate of change of torque is controlled to a predetermined level to mitigate noise, vibration, and harshness.
1. A method of controlling a hybrid vehicle comprising:
setting a first motor torque via a controller to a first driver demand based on a torque control mode in response to a slip of a first axle being less than a threshold;
setting the first motor torque via the controller based on a speed control mode in response to the slip of the first axle exceeding the threshold;
transitioning the first motor torque from the torque control mode to the speed control mode at a first predetermined rate via the controller in response to an increase in the slip of the first axle from less than the threshold to greater than the threshold; and
transitioning the first motor torque from the speed control mode to the torque control mode via the controller at a second predetermined rate.
2. The method of claim 1 further comprising initiating the transition from the speed control mode to the torque control mode via the controller in response to an absolute value of the first motor torque exceeding an absolute value of the first driver demand.
3. The method of claim 2 further comprising initiating the transition from the speed control mode to the torque control mode via the controller in response to an absolute value of the first driver demand being less than a threshold.
4. The method of claim 1 further comprising setting a powertrain torque to a second axle to a second driver demand based on the torque control mode.
5. The method of claim 4 wherein setting the powertrain torque comprises setting a second motor torque.
6. The method of claim 4 wherein setting the powertrain torque comprises setting an internal combustion engine torque.