Method and apparatus for multivariate active driveline damping

• US 20070225887A1
• Filed: 03/22/2006
• Published: 09/27/2007
• Est. Priority Date: 03/22/2006
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Morris, Robert
• Granted Patent: US 8,010,263 B2
• Time in Patent Office: Days
• US Class Current: 701/51
• CPC Class Codes: B60K 1/02 comprising more than one electric motor
• CPC Class Codes: B60K 6/365 with the gears having orbital motion
• CPC Class Codes: B60K 6/445 Differential gearing distribution type
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/15 Control strategies specially adapted for achieving a particular effect
• CPC Class Codes: B60W 20/20 Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 30/1882 characterised by the working point of the engine, e.g. by using engine output chart
• CPC Class Codes: B60W 30/20 Reducing vibrations in the driveline
• CPC Class Codes: F16H 2037/0866 Power split variators with distributing differentials, with the output of the CVT connected or connectable to the output shaft
• CPC Class Codes: F16H 2037/102 the input or output shaft of the transmission is connected or connectable to two or more differentials
• CPC Class Codes: F16H 2037/104 Power split variators with one end of the CVT connected or connectable to two or more differentials
• CPC Class Codes: F16H 2037/106 with switching means to provide two variator modes or ranges
• CPC Class Codes: Y02T 10/62 Hybrid vehicles
• CPC Class Codes: Y10S 903/946 Characterized by control of driveline clutch

Abstract

A multivariate control method and system to control torque output from a powertrain system to a driveline is provided, to reduce driveline oscillations. The powertrain preferably comprises hybrid powertrain having a plurality of torque-generative devices connected to a transmission. Desired powertrain and driveline operating states are determined, as are a plurality of operating state errors. Each torque-generative device is controlled, based upon the operating state errors, and operating mode of the transmission. A damping torque command, additive to a commanded torque, is determined for one or more of the torque-generative devices based upon the determined transmission operating mode. Determined operating states include operator input, and powertrain/driveline including driveline torque; transmission input torque, rotational speed of the torque-generative devices; road load; and, accessory load.

Claims

1. Multivariate control method for controlling torque output from a powertrain system to a driveline, the powertrain system comprising a plurality of torque-generative devices operably connected to a transmission, comprising:

determining desired operating states for the powertrain system and the driveline;

determining a plurality of operating states; and

,

controlling each torque-generative device, based upon the determined operating states and the desired operating states.

2. The method of claim 1, wherein determining the desired operating states for the powertrain system and the driveline comprises:

monitoring operator inputs; and

,

monitoring a plurality of operating states of the powertrain system and the driveline.

3. The method of claim 2, further comprising constructing a matrix of parameters comprising the operator inputs and the plurality of operating states of the powertrain system and the driveline.

4. The method of claim 3, wherein monitoring operating states of the powertrain system and the driveline further comprises:

monitoring a driveline torque.

5. The method of claim 3, wherein monitoring operating states of the powertrain system and the driveline further comprises:

monitoring an input torque to the transmission.

6. The method of claim 3, wherein monitoring operating states of the powertrain system further comprises:

monitoring rotational speed of each of the torque-generative devices.

7. The method of claim 3, wherein monitoring operating states of the powertrain system comprises monitoring rotational speed of a driven wheel.

8. The method of claim 1, wherein determining a plurality of operating states comprises:

determining a matrix of feedback parameters comprising operating states for the powertrain and the driveline.

9. The method of claim 8, wherein determining the matrix of feedback parameters comprising operating states for the powertrain and the driveline comprises determining input torques to the transmission and a driveline axle torque.

10. The method of claim 9, wherein determining the matrix of feedback parameters further comprises determining rotational speeds of the torque-generative devices.

11. The method of claim 10, wherein determining the matrix of feedback parameters further comprises determining rotational speed of a driven wheel.

12. The method of claim 8, wherein determining the matrix of feedback parameters comprises determining predetermined ones of the operating states based upon a measurement thereof.

13. The method of claim 8, wherein determining the matrix of feedback parameters comprises determining predetermined ones of the reference states based upon an estimation thereof.

14. The method of claim 8, further comprising adjusting the matrix of feedback parameters with a gain factor matrix.

15. The method of claim 14, further comprising the gain factor matrix determinable based upon an operating mode of the transmission.

16. The method of claim 1, wherein controlling each torque-generative device, based upon the determined operating states and the desired operating states comprises:

determining a damping torque command for at least one of the torque-generative devices.

17. The method of claim 16, further comprising adjusting a predetermined command torque to at least one of the torque-generative devices with the determined damping torque command for the torque-generative device.

18. The method of claim 1, further comprising controlling each torque-generative device, based upon a transmission operating mode.

19. The method of claim 18, wherein controlling each torque-generative device, based upon the transmission operating mode further comprises:

determining the specific transmission operating mode at which the transmission is operating; and

, determining a damping torque command for at least one of the torque-generative devices based upon the determined transmission operating mode.

20. The method of claim 19, further comprising adjusting a predetermined command torque to at least one of the torque-generative devices with the determined damping torque command for the torque-generative device.

21. Method for damping oscillations in a driveline, comprising controlling a torque output from a powertrain system comprising a plurality of individually-controllable torque generative devices operably connected to a two-mode, compound-split, electro-mechanical hybrid transmission, the transmission having a plurality of operating modes;

comprising;

constructing a matrix of desired operating states for the powertrain system and the driveline;

constructing a matrix of operating state errors; and

,

controlling each torque generative device based upon the matrix of operating state errors and the transmission operating mode.

22. Powertrain system, comprising:

a plurality of torque-generative devices, each operable to generate torque deliverable to a transmission, said transmission operable to deliver motive torque to a driveline; and

,

a control system, operable to control the integrated torque-generative devices, and, the transmission, said control system including a storage medium having a computer program encoded therein for effecting a multivariate control method to control motive torque output from the transmission to the driveline, the program comprising;

code for constructing a matrix of desired operating states for the powertrain system and the driveline;

code for constructing a matrix of operating state errors; and

,

code for controlling each torque-generative device based upon the matrix of operating state errors.

23. The powertrain system of claim 22, wherein the torque-generative devices comprise an internal combustion engine, and, a pair of electrical motors.

24. The powertrain system of claim 22, wherein the transmission comprises to a two-mode, compound-split, electro-mechanical hybrid transmission.

25. The powertrain system of claim 22, wherein the control system operable to control the transmission further comprises the control system operable to control a transmission operating mode.

26. The powertrain system of claim 25, wherein the control system operable to control the transmission further comprises the control system operable to each torque-generative device based upon the transmission operating mode.