US 12,227,167 B2
Method of controlling a vehicle drivetrain and controller in the drivetrain
Artemis Kostarigka, Nuremberg (DE); and Ruben König, Hemsbach (DE)
Assigned to Vitesco Technologies Germany GmbH, Hannover (DE)
Filed by Vitesco Technologies Germany GMBH, Hannover (DE)
Filed on Sep. 6, 2022, as Appl. No. 17/929,817.
Application 17/929,817 is a continuation of application No. PCT/EP2021/055575, filed on Mar. 5, 2021.
Prior Publication US 2023/0071874 A1, Mar. 9, 2023
Int. Cl. B60W 20/30 (2016.01); B60W 10/08 (2006.01); B60W 10/11 (2012.01); B60W 20/15 (2016.01); B60W 20/50 (2016.01); B60W 50/06 (2006.01); F16H 61/04 (2006.01); F16H 63/50 (2006.01)
CPC B60W 20/30 (2013.01) [B60W 10/08 (2013.01); B60W 10/11 (2013.01); B60W 20/15 (2016.01); B60W 20/50 (2013.01); B60W 50/06 (2013.01); F16H 61/0403 (2013.01); F16H 63/502 (2013.01); B60W 2510/0638 (2013.01); B60W 2510/083 (2013.01); B60W 2510/104 (2013.01); F16H 2061/0422 (2013.01); F16H 2061/0474 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method of controlling a drivetrain of a vehicle by an electric motor to synchronize a speed of an internal combustion engine and a speed of gears in the drivetrain, comprising:
during an initialization step:
determining an initial speed synchronization error (esync(0)) based on a difference between an angular speed and a target speed of a starter-generator of the vehicle,
determining a form of a synchronization Performance Function (ρsync(t)) and a synchronization Maximum Overshoot Parameter (Msync) wherein the form of the synchronization Performance Function (ρsync(t)) and the synchronization Maximum Overshoot Parameter (Msync) define performance limits,
determining a form of Safety Margin functions (σmin(t)), (σmax(t)), and
setting a Safety Margin violation flag (SLimViolFlag) to be OFF,
during a synchronization cycle:
determining a speed synchronization error (esync(t)) at a specific time instance tk,
determining an actual value of the synchronization Performance Function (ρsync(t)) at the specific time instance tk,
determining the Safety Margins (σmin(t)), (σmax(t)) at the specific time instance tk,
determining a transformed synchronization error (εsync(t)) at the specific time instance tk by way of:

OG Complex Work Unit Math
when the Safety Margin violation flag (SLimViolFlag) is OFF, using the synchronization Performance Function (ρsync(t)) and the synchronization Maximum Overshoot Parameter (Msync) by using the synchronization Transformation Function Esync(·),

OG Complex Work Unit Math
if the Safety Margin violation flag (SLimViolFlag) is ON, using a safe Performance Function (ρsync(t)) and a safe Maximum Overshoot Parameter (Msf) by using the safe Transformation function Esƒ(·),
when a new target speed (ωtgt) is requested, interrupt the synchronization process and re-initialize the synchronization cycle (go to the initialization step),
determining a requested motor torque TSG(t) as an output of a Speed Synchronization Controller (SSC):
If |esync(t)|≤iDisableThres, (TSG(t))=[TPPC(εsync(t))+TPI(esync(t)),
If |esync(t)|>iDisableThres, (TSG(t))=TPPC(εsync(t))+TP(esync(t)), where iDisableThres is an integrator disabling error threshold, which determines the condition for the switching between the PI part and P part;
set the requested SG torque TSG(t),
during an End of the synchronization cycle:
when the speed synchronization error esync(t) remains within a prespecified region for a specific time period Δt, completing the synchronization of the speed of the internal combustion engine and the speed of the gears in the drivetrain.