Optimal feedforward observer based creep control for electrified powertrains with a torque converter or a launch clutch

A feedforward control method for an electrified powertrain including a torque transfer device, the method comprising:

• monitoring, by control system and using a set of sensors, a set of operating parameters of the electrified powertrain, wherein the electrified powertrain includes an electric motor connected to an input of the torque transfer device and a transmission connected between an output of the torque transfer device and a driveline;
• determining, by the control system, a desired input speed for the torque transfer device based on the set of operating parameters of the electrified powertrain;
• determining, by the control system, a desired input torque for the torque transfer device based on a characteristics model or map of the torque transfer device and the desired input speed;
• performing, by the control system, an observer-based determination of a final feedforward torque for the torque transfer device based on the desired input speed, the desired input torque, a filtered actuator achieved torque for the electric motor, and minimum and maximum torque limits for the transmission;
• and
• controlling, by the control system, the electric motor based on the final feedforward torque for the torque transfer device.