Method and apparatus for multivariate active driveline damping

• US 8,010,263 B2
• Filed: 03/22/2006
• Issued: 08/30/2011
• 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 L.
• Primary Examiner(s): Hellner; Mark
• Assistant Examiner(s): Algahaim; Helal A
• Application Number:
  US11/386,337
• Publication Number:
  US 20070225887A1
• Time in Patent Office: 1,987 Days
• Field of Search: 701/22, 701/51, 701/54, 701/69, 701/99, 701/101, 701/102, 701/111, 180 651- 654, 903/940
• 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 operative to transmit torque to the driveline in fixed ratio and mode operating modes, comprising:

monitoring an input torque to the transmission, an output torque to the driveline, and transmission operating speeds comprising an input speed, an output speed and rotational speeds of the torque-generative devices during operation in a selected one of the fixed ratio and mode operating modes;

determining desired operating states for the powertrain system and the driveline for the selected one of the fixed ratio and mode operating modes;

defining reference operating states for the input torque to the transmission, the output torque to the driveline, and the transmission operating speeds, the reference operating states responsive to the desired operating states for the powertrain system and the driveline for the selected one of the fixed ratio and mode operating modes;

comparing first and second matrices to determine damping torque commands for each of the torque-generative devices, the first matrix comprising the reference operating states for the input torque to the transmission, the output torque to the driveline, and the transmission operating speeds, and the second matrix associated with the monitored input torque to the transmission, the monitored output torque to the driveline, and the monitored transmission operating speeds corresponding to the selected one of the fixed ratio and mode operating modes of the transmission; and

controlling each of the torque-generative devices responsive to based upon the damping torque commands.

2. The method of claim 1, wherein determining the second matrix associated with the monitored input torque to the transmission, the monitored output torque to the driveline, and the monitored transmission operating speeds corresponding to the selected one of the fixed ratio and mode operating modes of the transmission comprises:

determining a matrix of feedback parameters corresponding to the monitored input torque to the transmission, the monitored output torque to the driveline and the monitored transmission operating speeds; and

adjusting the matrix of feedback parameters with a predetermined gain factor matrix associated with the selected one of the fixed ratio and mode operating modes.

3. The method of claim 2, further comprising:

monitoring an output speed of a driven wheel; and

defining a reference operating state for the output speed of the driven wheel;

wherein the first matrix further comprises the reference state for the output speed of the driven wheel and the matrix of feedback parameters further corresponds to the monitored output speed of the driven wheel.

4. The method of claim 2, further comprising

establishing a plurality of gain factor matrices, each corresponding to one of the fixed ratio and mode operating modes;

and

selecting as the predetermined gain factor matrix the one of the plurality of gain factor matrices corresponding to the selected one of the fixed ratio and mode operating mode of the transmission.