State transition control for a multi-mode hybrid powertrain

A controller for a hybrid powertrain having a transmission with a plurality of gear sets and a plurality of rotatable members, and a plurality of physical torque actuators each configured to output a corresponding total control torque, wherein a sum of the corresponding total control torques from at least one of the physical torque actuators is used to achieve a target value that is a torque value of a physical target of the hybrid powertrain, and wherein the physical target is a member of one of the gear sets or of one of the rotatable members, the controller comprising:

• a processor;
• a transceiver in communication with the powertrain;
• and
• tangible, non-transitory memory having proportional-integral (PI) control logic, wherein the processor executes code from the memory to thereby cause the controller to:
• detect, via the transceiver, a predetermined vehicle event in which an identity of the at least one physical torque actuator used to achieve the target value changes;
• transform a logical representation of the powertrain via the controller using a transformation matrix from using the at least one torque actuator to using at least one virtual torque actuator;
• and
• automatically reset an integral control torque term for each of the at least one virtual torque actuators used to achieve the target value during the predetermined vehicle event such that the total control torque of the target value is unchanged through the execution of the predetermined vehicle event.

A powertrain comprising:

• a stationary member;
• a first, a second, and a third gear set each having a plurality of nodes selected from the group consisting of a sun gear, a ring gear, and a carrier member;
• a plurality of clutches each selectively engageable to connect some of the gear sets to each other or to a stationary member;
• a plurality of rotatable members;
• a plurality of physical torque actuators each configured to output a corresponding total control torque, wherein a sum of the corresponding total control torques from at least one of the physical torque actuators defines a total control torque used to achieve a target value that is a torque value of a physical target, wherein the physical target is a member of one of the gear sets, the clutches, or the rotatable members, and wherein the plurality of physical torque actuators includes an engine, a first motor/generator unit, and a second motor/generator unit;
• and
• a controller having a processor, tangible, non-transitory memory, and proportional-integral (PI) control logic recorded in the memory wherein the controller is configured to:
• detect, via the processor, a hybrid range state transition from a neutral 1-to-neutral 2 state in which the at least one physical torque actuator used to achieve the target value changes from the engine in the neutral 1 state to the first and second motor/generator units in the neutral 2 state;
• transform a logical representation of the powertrain, using a transformation matrix, from a powertrain using the at least one physical torque actuator used to achieve the target value to one using the at least one virtual torque actuator;
• and
• automatically reset an integral control torque term for each of the at least one virtual torque actuators used to achieve the target value during the hybrid range state transition, including resetting the integral control torque term of a corresponding virtual torque actuator used for the target value, and then transforming the corresponding virtual torque actuator to the torque actuators in logic of the controller;
• wherein automatically resetting the integral control torque terms ensures that the total control torque of the target value is unchanged through the execution of the hybrid range state transition.