# US 12,594,843 B2 · Active damping control within a supervisory control structure

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- Number: US 12,594,843 B2
- Document ID: US12594843B2
- Status: Granted
- Kind: B2
- Application number: 18/753,136
- Filed: 2024-06-25
- Published: 2025-12-25
- Granted: 2026-04-07
- Earliest claimed: 2024-06-25
- Assignees: Fca US LLC
- Applicants: Fca US LLC
- Inventors: Nadirsh D Patel; Cristian Rostiti; McKenzie Walsh
- Web page: https://patentgrep.com/patent/US12594843B2

## CPC

- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 2240/423: Torque
- Y02T 10/62: Hybrid vehicles
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

An electrified powertrain that generates and transfers drive torque to a driveline of a hybrid electric vehicle includes a first electric motor, a second electric motor and a controller. The first electric motor includes a first electric motor output. The second electric motor includes a second electric motor output. The controller is configured to: receive a driver torque request; determine an open loop motor torque command based on the driver torque request; and determine a shaped torque command based on the open loop motor torque command, including identifying a lash zone, requesting motor torque from at least one of the first and second electric motors to cross the lash zone, and, subsequent to crossing the lash zone, providing motor torque to meet the driver torque request.

## Claims

### Claim 1

An electrified powertrain that generates and transfers drive torque to a driveline of a hybrid electric vehicle, the electrified powertrain comprising:
a first electric motor having a first electric motor output;
a second electric motor having a second electric motor output;
a controller configured to:
receive a driver torque request;
determine an open loop motor torque command based on the driver torque request; and
determine a shaped torque command based on the open loop motor torque command, including identifying a lash zone, requesting motor torque from at least one of the first and second electric motors to cross the lash zone, and, subsequent to crossing the lash zone, providing motor torque to meet the driver torque request.

### Claim 2 (depends on 1)

The electrified powertrain of claim 1, wherein the controller is further configured to:
perform closed loop active electric motor damping of at least one of the first and second electric motors.

### Claim 3 (depends on 1)

The electrified powertrain of claim 1, wherein the controller further comprises:
a supervisory motor torque determination module that (i) receives a driver demand shaping signal based on the driver torque request and (ii) an engine torque signal.

### Claim 4 (depends on 3)

The electrified powertrain of claim 3 wherein the supervisory motor torque determination module further comprises an active damping controller that (i) receives the open loop motor torque command and (ii) outputs the shaped torque command to at least one of the first and second electric motors.

### Claim 5 (depends on 4)

The electrified powertrain of claim 4, wherein the controller further comprises:
a motor controller including an active electric motor dampening (AEMD) module that receives the shaped torque command and outputs modified torque actuation signals to the respective first and second electric motors.

### Claim 6 (depends on 5)

The electrified powertrain of claim 5 wherein the motor controller implements a closed loop speed control that mitigates residual oscillations in the electrified powertrain.

### Claim 7 (depends on 1)

The electrified powertrain of claim 1, further comprising:
a supervisory motor torque determination module implements a linear quadratic integral (LQI)-based compensator that provides the shaped torque command.

### Claim 8 (depends on 1)

The electrified powertrain of claim 1, further comprising:
an internal combustion engine (ICE).

### Claim 9

A method for controlling an electrified powertrain that generates and transfers drive torque to at least one of a first and second electric motor in a driveline of a hybrid electric vehicle, the method comprising:
receiving a driver torque request;
determining an open loop motor torque command based on the driver torque request;
determining a shaped torque command based on the open loop motor torque command, including identifying a lash zone; and
requesting motor torque from at least one of the first and second electric motors to cross the lash zone, and, subsequent to crossing the lash zone, providing motor torque to meet the driver torque request.

### Claim 10 (depends on 9)

The method of claim 9, further comprising:
performing closed loop active electric motor damping of at least one of the first and second electric motors.

### Claim 11 (depends on 9)

The method of claim 9, further comprising:
receiving, at a supervisory motor torque determination module, (i) a driver demand shaping signal based on the driver torque request and (ii) an engine torque signal.

### Claim 12 (depends on 11)

The method of claim 11, further comprising:
receiving, at an active damping controller, the open loop motor torque command; and
outputting the shaped torque command to at least one of the first and second electric motors.

### Claim 13 (depends on 12)

The method of claim 12, further comprising:
receiving, at a motor controller including an active electric motor dampening (AEMD) module, the shaped torque command; and
outputting modified torque actuation signals to the respective first and second electric motors.

### Claim 14 (depends on 13)

The method of claim 13, further comprising:
implementing a closed loop speed control that mitigates residual oscillations in the electrified powertrain.

### Claim 15 (depends on 9)

The method of claim 9, further comprising:
implementing, at a supervisory motor torque determination module, a linear quadratic integral (LQI)-based compensator that provides the shaped torque command.