Closed-loop speed and torque damping control for hybrid and electric vehicles

A vehicle comprising:

• a traction motor;
• a transmission powered by the traction motor;
• and
• a controller configured to automatically combine a damping torque control command with a motor speed control command to thereby prevent a discontinuity in an applied motor torque from the traction motor during a change in gear states of the transmission.

A method for minimizing driveline disturbances in a vehicle having a controller and a transmission powered by a first and a second traction motor, the method comprising:

• detecting a change in gear states of the transmission;
• and
• automatically combining a damping control torque with a motor speed control torque in a closed loop, via the controller, for each of the first and the second traction motor, to prevent a perceptible discontinuity in an applied motor torque from the first and the second traction motor during the change in gear state;
• wherein automatically combining a damping control torque includes calculating an error value in the rotational speed of the at least one traction motor, and then using the calculated error value to determine a required damping torque for providing the damping control torque.