Use of a clutch proportional-integral controller to assist a state observer during a vehicle shift event

A vehicle comprising:

• a transmission;
• an engine;
• a traction motor;
• and
• a control system including a state observer and a proportional-integral (PI) clutch control module for a designated clutch in the transmission, wherein the control system is configured for:
• determining an estimated clutch slip speed of the designated clutch from a plurality of input values using the state observer;
• receiving, via the PI clutch control module, the estimated clutch slip speed and a calibrated reference clutch slip speed;
• determining a clutch torque value using the PI clutch control module as a function of the estimated clutch slip speed and the calibrated reference clutch slip speed, wherein the clutch torque value is an amount of clutch torque necessary for maintaining the estimated clutch slip speed within a calibrated range of the calibrated reference clutch slip speed;
• transmitting the clutch torque value from the clutch PI to the state observer to thereby maintain the estimated clutch slip speed within the calibrated range of the calibrated reference clutch slip speed;
• and
• executing the shift event, including using the clutch torque value to reduce a discontinuity in the estimated clutch slip speed from the state observer during a change in state equations in which switching occurs between different state space equations in the state observer.

A method for optimizing a shift event in a vehicle having an engine, a traction motor, and a transmission, the method comprising:

• designating a clutch to be used as an oncoming clutch or an offgoing clutch in the shift event before executing the shift event;
• processing a plurality of input values through a state observer to determine, as an output value of the state observer, an estimated clutch slip speed of the designated clutch, including calculating the estimated clutch slip speed as a function of engine speed, motor speeds, and transmission output speed;
• using a proportional-integral (PI) control module for the designated clutch to close the loop on the estimated clutch slip speed from the state observer, including:
• processing the estimated clutch slip speed and a calibrated reference clutch slip speed using the PI control module;
• generating a torque value of the designated clutch, wherein the torque value is an amount of torque required for maintaining the estimated clutch slip speed during the shift event within a calibrated range of the calibrated reference clutch slip speed;
• and
• feeding the clutch torque value back into the state observer from the PI control module as one of the plurality of input values to the state observer to thereby maintain the estimated clutch slip speed during the shift event within a calibrated range of the calibrated reference clutch slip speed;
• and
• executing the shift event, including synchronizing an input and output side of the clutch before switching between the different state space equations.