System and method to coordinate lash crossing transitions in multi-axle electrified drivetrains

A method for a drivetrain system having a first prime mover for supplying a torque to a first axle and a second prime mover for supplying a torque to a second axle, comprising:

• transitioning the first axle and the second axle to cross lash zones sequentially, where a lash zone of the second prime mover does not overlap with the lash zone of the first prime mover and the lash zone of the first prime mover occurs before the lash zone of the second prime mover;
• and
• during a lash transition for the second axle,
• adjusting the first prime mover based on receiving communication over a network of whether the second prime mover is in the lash zone;
• wherein the transitioning includes, responsive to an indication of the second prime mover maintaining a second speed for greater than a duration, adjusting a motor torque of the second prime mover to target a lash exit torque using a feedforward gain calibrated to target the lash exit torque.

An electric vehicle system comprising:

• a first prime mover for supplying a torque to a first axle;
• a second prime mover for supplying a torque to a second axle;
• a first electronic controller for controlling the first prime mover;
• a second electronic controller for controlling the second prime mover positioned separately in the electric vehicle system from the first electronic controller, and
• the first electronic controller and the second electronic controller configured to transition the first prime mover and the second prime mover to cross a lash zone one before the other, where the lash zone of the second prime mover does not overlap with the lash zone of the first prime mover,
• wherein the first electronic controller communicates to the second electronic controller an allocated torque command for the second prime mover and the second electronic controller communicates to the first electronic controller a lash state of the second prime mover;
• and
• wherein the transition for the second prime mover includes, responsive to an indication of the second prime mover maintaining a second speed for greater than a duration, adjusting a motor torque of the second prime mover to target a lash exit torque using a feedforward gain calibrated to target the lash exit torque.