Control of a powertrain backlash

A computer program product comprising computer program code stored on a non-transitory a computer readable medium, said computer program product for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation, said computer program product comprising computer instructions to cause said at least one control unit to perform the following operations:

• controlling, in connection with a first gear shifting operation, a clutch included in said powertrain to a slipping position, in which slipping position said clutch transfers a slipping torque that is less than a torque being transferred in a closed position for said clutch;
• analyzing a change of a rotational speed for an input shaft of a gearbox included in said powertrain;
• determining a position for said clutch, for which position said change of said rotational speed has a value corresponding to a backlash torque, said backlash torque having a predetermined value for eliminating said backlash;
• and
• utilizing said determined clutch position for controlling said clutch in connection with a second subsequent gear shifting operation.

A system for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation, said system comprising:

• a clutch control unit, arranged for controlling, in connection with a first gear shifting operation, a clutch included in said powertrain to a slipping position, in which slipping position said clutch transfers a slipping torque that is less than a torque being transferred in a closed position for said clutch;
• an analysis unit, arranged for analyzing a change of a rotational speed for an input shaft of a gearbox included in said powertrain;
• and
• a determination unit arranged for determining a position for said clutch, for which position said change of said rotational speed has a value corresponding to a backlash torque, said backlash torque having a predetermined value suitable for eliminating said backlash,
• wherein said clutch control unit, arranged for utilizing said determined clutch position for controlling said clutch in connection with a second subsequent gear shifting operation.