Control of a powertrain backlash

Abstract

A method and a system for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation is presented. The method comprises: controlling, in connection with a first gear shifting operation, a clutch included in the powertrain to a slipping position, in which slipping position the clutch transfers a slipping torque that is less than a torque being transferred in a closed position for the clutch; analyzing a change of a rotational speed for an input shaft of a gearbox included in the powertrain; determining a position for the clutch, for which position the change of the rotational speed has a value corresponding to a backlash torque, the backlash torque having a predetermined value for eliminating the backlash; and utilizing the determined clutch position for controlling the clutch in connection with a second subsequent gear shifting operation.

Claims

1. A method for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation, said method comprising: controlling, in connection with a first gear shifting operation, a clutch included in said powertrain to a slipping position, in which slipping position said clutch transfers a slipping torque that is less than a torque being transferred in a closed position for said clutch; analyzing a change of a rotational speed for an input shaft of a gearbox included in said powertrain; determining a position for said clutch, for which position said change of said rotational speed has a value corresponding to a backlash torque, said backlash torque having a predetermined value for eliminating said backlash; and utilizing said determined clutch position for controlling said clutch in connection with a second subsequent gear shifting operation.

2. A method as claimed in claim 1, wherein said clutch in connection with said second subsequent gear shifting operation is controlled to be in said determined clutch position when said gearbox is changed into a target gear position.

3. A method as claimed in claim 1, wherein said clutch in connection with said second subsequent gear shifting operation is controlled to be in said determined clutch position after said gearbox has been changed into a target gear position.

4. A method as claimed in claim 2, wherein said gearbox is changed into said target gear position when said rotational speed for an input shaft is essentially equal to a target value for a rotational speed of an engine included in said powertrain.

5. A method as claimed in claim 2, wherein said clutch is controlled to be in said determined clutch position at least initially during up-ramping of a powertrain torque after said second gear changing operation.

6. A method as claimed in claim 1, wherein said controlling of said clutch is preceded by: shifting said gearbox into a neutral gear position; and braking said input shaft to a rotational speed value being lower than a target value for a rotational speed of an engine included in said powertrain.

7. A method as claimed in claim 6, wherein said braking is effected by an input shaft brake arrangement.

8. A method as claimed in claim 1, wherein said determining of said position for said clutch is followed by verifying said eliminating of said backlash based on an analysis of a difference between said rotational speed for said input shaft and a converted rotational wheel speed, said converted rotational wheel speed being calculated based on a rotational speed of at least one driving wheel and on a total gearing ratio between said input shaft and said at least one driving wheel.

9. A method as claimed in claim 8, wherein said backlash torque is controlled such that said difference is less than a predetermined value during said eliminating of said backlash.

10. A method as claimed in claim 1, wherein said position for said clutch corresponds to a position for a clutch actuator controlling a degree of opening for said clutch.

11. A method as claimed in claim 1, wherein said value for said change in rotational speed is dependent on a rotational inertia of one or more parts of said clutch and said gearbox.

12. A method as claimed in claim 1, wherein said predetermined value of said backlash torque is within a range of 10-50 Nm.

13. A computer program product comprising computer program code stored on a non-transitory a computer readable medium, said computer program product for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation, said computer program product comprising computer instructions to cause said at least one control unit to perform the following operations: controlling, in connection with a first gear shifting operation, a clutch included in said powertrain to a slipping position, in which slipping position said clutch transfers a slipping torque that is less than a torque being transferred in a closed position for said clutch; analyzing a change of a rotational speed for an input shaft of a gearbox included in said powertrain; determining a position for said clutch, for which position said change of said rotational speed has a value corresponding to a backlash torque, said backlash torque having a predetermined value for eliminating said backlash; and utilizing said determined clutch position for controlling said clutch in connection with a second subsequent gear shifting operation.

14. A system for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation, said system comprising: a clutch control unit, arranged for controlling, in connection with a first gear shifting operation, a clutch included in said powertrain to a slipping position, in which slipping position said clutch transfers a slipping torque that is less than a torque being transferred in a closed position for said clutch; an analysis unit, arranged for analyzing a change of a rotational speed for an input shaft of a gearbox included in said powertrain; and a determination unit arranged for determining a position for said clutch, for which position said change of said rotational speed has a value corresponding to a backlash torque, said backlash torque having a predetermined value suitable for eliminating said backlash, wherein said clutch control unit, arranged for utilizing said determined clutch position for controlling said clutch in connection with a second subsequent gear shifting operation.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The invention will be illustrated in more detail below, along with the enclosed drawings, where similar references are used for similar parts, and where:

(2) FIG. 1 shows an example vehicle, in which the present invention may be implemented,

(3) FIG. 2 shows a flow chart for a method according to an embodiment of the present the invention,

(4) FIGS. 3a-c schematically illustrate a play in the powertrain.

(5) FIG. 4 shows a flow chart for a method according to an embodiment of the present the invention,

(6) FIGS. 5a-d show a non-limiting gear shifting operation, used for explaining various embodiments of the present invention,

(7) FIG. 6 shows a control device, in which a method according to the present invention may be implemented, and

(8) FIG. 7 schematically shows an input shaft brake arrangement according to an embodiment.

DETAILED DESCRIPTION OF THE INVENTION

(9) FIG. 1 schematically shows a heavy example vehicle 100, such as a truck, a bus or similar, which will be used to explain the present invention. The present invention is, however, not limited to use in heavy goods vehicles as the one shown in FIG. 1, but may also be used in lighter vehicles such as passenger cars. The vehicle 100, shown schematically in FIG. 1, comprises a pair of driving wheels 110, 111. The vehicle furthermore comprises a powertrain 130 with an engine 101, which may be, for example, a combustion engine, an electrical motor or a combination of these, a so called hybrid drive. The engine 101 may, for example, in a customary fashion, via an output shaft 102 of the engine 101, be connected with a gearbox 103, via a clutch 106 and an input shaft 109 connected to the gearbox 103. An output shaft 107 from the gearbox 103, also known as a propeller shaft, drives the driving wheels 110, 111 via a final gear 108, such as e.g. a customary differential, and drive shafts 104, 105 connected with said final gear 108.

(10) A control unit 120 is in FIG. 1 schematically illustrated as receiving signals and/or providing control signals from and/or to the engine 101, the clutch 106 and/or the gearbox 103. As described below, the control unit 120 may comprise a clutch control unit 121, an analysis unit 122, and a determination unit 123. According to some embodiments of the present invention, the control device 120 may also comprise a gearbox control unit 124, a brake control unit 125 and/or a verification unit 125. These units are described in more detail below.

(11) FIG. 2 shows a flow chart for a method for controlling a backlash of a powertrain included in a vehicle 100 in connection with a gear shifting operation, according to an embodiment of the present invention.

(12) In a third step 230, a clutch 106 included in the powertrain 130 is controlled in connection with a first gear shifting operation. As is described below, a first step 210 and/or a second step 220 may precede the third step 230 according to some embodiments.

(13) The clutch 106 is in the third step 230 controlled to a slipping position C.sub.slip, in which slipping position C.sub.slip the clutch 106 transfers a slipping torque T.sub.slip being less than a torque T.sub.closed being transferred in a closed position C.sub.closed for the clutch 106. Thus, in the slipping position C.sub.slip, the clutch 106, i.e. a clutch actuator controlling the position of the clutch, is in a position between a closed position C.sub.closed and an open position C.sub.open, whereby the slipping torque T.sub.slip is lower than a closed torque T.sub.closed and higher than an open torque T.sub.open being transferred by the clutch 106 in the closed position C.sub.closed and in the open position C.sub.open, respectively; T.sub.open<T.sub.slip<T.sub.closed.

(14) In a fourth step 240, a change {dot over ()} of a rotational speed for an input shaft 109 of the gearbox 103 included in the powertrain 130 is analysed. This analysis will be described more in detail below.

(15) In a fifth step 250, a position C.sub.det for the clutch 106 is determined, such that the change {dot over ()} of the rotational speed has a value {dot over ()}.sub.det corresponding to a backlash torque T.sub.backlash for that position C.sub.det. The backlash torque T.sub.backlash has here a predetermined value being suitable for eliminating the backlash in the powertrain, as will be described below.

(16) In a seventh step 270, the determined clutch position C.sub.det is utilised for controlling the clutch 106 in connection with a second subsequent gear shifting operation. As is described below, a sixth step 260 may precede the seventh step in some embodiments.

(17) Thus, according to the present invention, the position C.sub.det for the clutch 106, which in connection with a first gear shifting operation has been determined to be suitable for eliminating the powertrain backlash/play, is utilised 270 in a second subsequent gear shifting operation for eliminating the powertrain backlash/play. Hereby, the powertrain oscillations and/or the component wear may be reduced considerably in connection with the second subsequent gear shifting operation. The reduction in powertrain oscillations increases the driver comfort in the vehicle.

(18) By the use of the present invention, a more efficient and reliable elimination of potential backlash/play in the powertrain is achieved. Therefore, also quick and reliable gear changing operations are achieved. As described above, play/backlash in the powertrain may, for example, arise when two cogs in the powertrain, such as for example the cogs in two cogwheels in the gearbox, fail to engage/mesh with each other.

(19) The position of the cogwheels in relation to each other during and outside of the play is schematically illustrated in the FIGS. 3a-c. The cogs of the cogwheels make contact in a first shaft position, during rotation in a first direction, as illustrated in FIG. 3a, in a position corresponding to a maximum backward turn. The cogs in the cogwheels also make contact in a third shaft position, during rotation in a second direction, as illustrated in FIG. 3c, in a position corresponding to a maximum forward turn. Therefore, the cogs are engaged/meshed in both these positions (illustrated in FIGS. 3a and 3c respectively), which also means that the play is rotated backwards and forwards respectively. The play in the powertrain is made up of the rotation angle when the cogs are not engaged/meshed with each other, that is to say the angle range between the first and third shaft positions, corresponding to a second position within the play, illustrated in FIG. 3b. Thus, no torque is transmitted during the play, since the cogs do not engage with each other in this second gear/position. It should be noted that FIGS. 3a-c illustrate, in a schematic and simplified manner, a play between only two cogwheels, and that a powertrain may comprise connections between more than two cogwheels, as described above. However, FIGS. 3a-c may be used to explain, in principle, the occurrence of a play.

(20) A backlash/play may thus, for example, occur at a transition between dragging the engine and an acceleration/torque request when engaging the clutch, or during a shift operation. Since an efficient elimination/winding up of such a play may be provided by the use of the present invention, a rapid torque build-up may be obtained.

(21) FIG. 4 shows a flow chart illustrating different embodiments of the present invention including a number of steps being performed in connection with a gear shifting operation, that will hereafter be described. FIGS. 5a-d schematically illustrates a non-limiting example of a first and a second gear shifting operations, that are here used for explaining the principles of the embodiments descried in this document.

(22) In FIG. 4, the third 230, the fourth 240, the fifth 250 and the seventh 270 steps correspond to the steps described above in connection with FIG. 2. These steps are only briefly described here, and reference is made to FIG. 2. In addition to these previously described steps, a number of further steps are described in connection with FIG. 4 and exemplified by the non-limiting first gear shifting operation illustrated in FIGS. 5a-d.

(23) As is illustrated in FIGS. 5a-d, the clutch 106 is in a first gear shifting operation controlled 531 to be opened 532, i.e. is controlled to an open position C.sub.open, after which the gearbox 103 is shifted 521 into a neutral gear G.sub.neutral. After the gearbox 103 is shifted into a neutral gear G.sub.neutral, the target value .sub.e_target 540 for a rotational speed .sub.e of the engine 101 (solid line in FIG. 5b) is reduced from a higher value 501 to a lower value 502. The target value .sub.e_target 540 for the rotational speed .sub.e of the engine 101 can be calculated based on the rotational speed of the wheels .sub.drive_wheel and the total target gear ratio g.sub.powertrain_target for the powertrain/driveline from the input shaft 109 to the drive wheels 110, 111.

(24) When the target value .sub.e_target 540 is reduced to its lower value 502, the rotational speed 550 for the input shaft 109 of the gearbox 103 (550; dashed line in FIG. 5b) is also reduced. The dashed line for the rotational speed 550 for the input shaft 109 in FIG. 5b represents the rotational speed in connection with the first gear shifting operation. According to an embodiment of the present invention, an input shaft brake arrangement providing a braking torque directly or indirectly on the input shaft 109 is activated 511 in order to brake the rotational speed to a value .sub.low being lower than the target value .sub.e_target 540.

(25) The input shaft brake arrangement can be arranged in a number of ways, as long as a braking torque is applied to the input shaft 109. The braking torque can according to different embodiments be applied directly to the input shaft 109 and/or to another shaft 702 being connected to the input shaft via at least one gear wheel meshing. FIG. 7 schematically illustrates one example of a gearbox 103 including an input shaft 109, and a main/transmission shaft 705 being journaled to the input shaft 109 in bearings 706. Also, a lay shaft brake 701, configured to apply a braking torque to a lay shaft 702, is schematically illustrated. The lay shaft 702 is here braked by the lay shaft brake 701, and the braking force is then provided to the input shaft 109 of the gearbox 103 via one or more gear wheel meshes 703, 704. The input shaft brake arrangement may be constructed in a number of ways, and is not limited to the schematic illustration of FIG. 7. As described in this document, the input shaft brake arrangement may be controlled by a brake control unit 125 included in a control unit 120. The control unit 120 may also include a gearbox control unit 124.

(26) This is also illustrated in a first step 210 and a second step 220 in FIG. 4. Thus, in the first step 210, the gearbox 103 is shifted into a neutral gear position. Also, in the second step 220, the input shaft 109 of the gearbox 103 is braked to a rotational speed 550 having a value .sub.low being lower than the target value .sub.e_target for the rotational speed of the engine 101. Thus, the rotational speed value 550 of the input shaft 109 for the first gear shifting operation (dashed line) is braked passed the target value .sub.e_target 504 until the input shaft braking arrangement is deactivated 512 when the rotational speed value 550 is lower than the target value .sub.e_target 505.

(27) As described above, the clutch 106 is then controlled 533 in a third step 230 to the slipping position C.sub.slip from the open position C.sub.open. In this document, the positions for the clutch 106, such as the open position C.sub.open, the closed position C.sub.closed, the slipping position C.sub.slip and the determined position C.sub.det, each corresponds to a position C.sub.act of a clutch actuator controlling a degree of opening for said clutch 106. Thus, the position of the clutch/actuator determines the torque being transferred by the clutch 106.

(28) The deactivation of the input shaft braking arrangement in combination with the use of the slipping position C.sub.slip of the clutch 106 causes the rotational speed 550 for the input shaft 109 to increase again after its lowest value 506. Thus, the rotational speed 550 for the input shaft 109 increases such that a change {dot over ()} of the rotational speed 550 is provided. This change {dot over ()} of the rotational speed is then in a fourth step 240 analysed during an analysis time period T.sub.analysis. This analysis will be described more in detail below.

(29) The analysis of the change {dot over ()} of the rotational speed can then in a fifth step 250, be used for determining a position C.sub.det for the clutch 106 for which the acceleration/change/derivative {dot over ()} of the rotational speed has a value {dot over ()}.sub.det corresponding to a backlash torque T.sub.backlash for that position C.sub.det. The position C.sub.det can here be determined such that the backlash torque T.sub.backlash corresponding to the value {dot over ()}.sub.det has a predetermined value being suitable for eliminating the backlash in the powertrain.

(30) As is illustrated in FIG. 1, the different parts of the powertrain have different rotational inertias, comprising a rotational inertia J.sub.e for the engine 101, a rotational inertia J.sub.g for the gearbox 103, a rotational inertia J.sub.c for the clutch 106, a rotational inertia J.sub.p for the propeller shaft 107 and rotational inertias J.sub.d for each drive shaft 104, 105. Generally speaking, all rotating bodies have a rotational inertia J, which depends on the mass of the body and the distance of the mass from the rotational centre. For reasons of clarity, in FIG. 1, only the above mentioned rotational inertias have been added, and their significance for the present invention will be described hereafter. A person skilled in the art does, however, realize that more moments of inertia may occur in a powertrain than those listed here.

(31) Generally, the torque T and the change {dot over ()} of the rotational speed are related to each other and to a rotational inertia J according to T=J{dot over ()}. For the powertrain, or at least for parts of the powertrain, the rotational inertia J is known or can be calculated.

(32) The determined value {dot over ()}.sub.det for the change in rotational speed is dependent at least on a rotational inertia J of one or more parts of the clutch 106 and the gearbox 103. One non-limiting example value for the inertia J for the rotating parts of the clutch 106 and the gearbox 103 can be e.g. 0.5 kg*m.sup.2. According to an embodiment of the present invention, the predetermined value of the backlash torque T.sub.backlash suitable for eliminating the backlash/play may be empirically determined and may have a value exceeding at least the frictional torques of the gearbox and the drive shafts 104, 105, for example within a range of 10-50 Nm, or within a range of 15-25 Nm, or approximately 20 Nm.

(33) Thus, the value {dot over ()}.sub.det for the acceleration/change/derivative {dot over ()} of the rotational speed corresponding to the backlash torque T.sub.backlash value being useable for eliminating the backlash/play is calculated. Then, the clutch 103 is controlled to be gradually more and more closed from its open position C.sub.open 533 (solid line for the first shifting operation in FIG. 5d). During the analysis time period T.sub.analysis, the clutch is gradually closed until the wanted value {dot over ()}.sub.et for the acceleration/change/derivative {dot over ()} results 534 from the control of the clutch. As described above, when the acceleration/change/derivative {dot over ()} has this wanted value {dot over ()}.sub.det 510, the backlash torque T.sub.backlash is provided to the powertrain, which eliminates/winds up the backlash/play. In the fifth step 250, the position C.sub.det for the clutch 103 which results in the wanted value {dot over ()}.sub.det, and thus also in the backlash torque T.sub.backlash, is determined based on the actual position of the clutch 103 when the wanted value {dot over ()}.sub.det is provided.

(34) The rotational speed 550 of the input shaft 109 then continues to increase, such that it reaches 507 the target value .sub.e_target 540 for the rotational speed of the engine 101 again. The gearbox 103 is changed into a target gear position G.sub.target 522 (solid line for the first gear shifting operation in FIG. 5c) when the rotational speed for the input shaft 109 is essentially equal 507, e.g. within an interval of 40 rpm, with the target value .sub.e_target for the rotational speed of the engine 101.

(35) When the rotational speed 550 of the input shaft 109 has increased above the target value .sub.e_target 502/540 for the rotational speed of the engine 101, the backlash/play is eliminated 508 and the rotational speed is reduced to the target value .sub.e_target 502/540 again 509.

(36) In a sixth step 260 of the method, the elimination of the backlash is verified based on an analysis of a difference between the rotational speed 550 for the input shaft 109 and a converted rotational wheel speed .sub.wheel. The converted rotational wheel speed .sub.wheel can here be calculated based on a rotational speed of at least one driving wheel 110, 111 in the vehicle 100 and on a total gearing ratio between the input shaft 109 of the gearbox 103 and the at least one driving wheel 110, 111, e.g. including at least the gearing ratio of the gearbox and the differential 108.

(37) According to an embodiment of the present invention, the backlash torque T.sub.backlash is controlled such that the difference is less than a predetermined value .sub.predet; <.sub.predet; during the elimination of the backlash. Here, a constant and/or predetermined value for the backlash torque T.sub.backlash can be requested/provided during the backlash elimination process, which results in a value for the difference . The difference is then analysed in order to determine if the backlash/play has been eliminated or not. Alternatively, the value for the backlash torque T.sub.backlash is adapted in order to achieve the predetermined value .sub.predet for the difference . For the embodiments mentioned herein, the predetermined value .sub.predet can be e.g. 10 rotations per minute; i.e. .sub.predet=10 rpm and <10 rpm. Hereby, a controlled elimination of the backlash/play is achieved.

(38) As described above, the first to sixth steps 210, 220, 230, 240, 250, 260 are performed in connection with the first gear shifting operation. By these steps, the position C.sub.det for the clutch 103 being suitable for eliminating the backlash in the powertrain can be determined in connection with the first gear shifting operation.

(39) In a seventh step 270, the determined clutch position C.sub.det is utilised for controlling the clutch 106 in connection with a second subsequent gear shifting operation. Thus, the clutch position C.sub.det having been determined in connection with the first gear shifting operation can then be used later in connection with a second gear shifting operation, as is illustrated with the dot-dashed line 534 in FIG. 5d.

(40) The dot-dashed line 551 for the rotational speed for the input shaft 109 in FIG. 5b illustrates the rotational speed 551 for the second subsequent gear shifting operation. Also, the dot-dashed line 523 for the gears in FIG. 5c illustrates the gearing in connection with the subsequent second gear shifting operation. As is clearly illustrated in FIGS. 5b-c, the target gear G.sub.target can be engaged already 504 when the rotational speed for the input shaft 551 has a value being essentially equal to the target value .sub.e_target 502/540 for the rotational speed of the engine 101. Also, the rotational speed 551 for the second subsequent gear shifting operation can be directly increased 504 when the rotational speed for the input shaft has a value being essentially equal to the target value .sub.e_target 502/540, e.g. within an interval of 40 rpm around the target value .sub.e_target 502/540.

(41) Thus, a quick and safe gear shifting operation, without driveline oscillations can be provided by the present invention, after the above described steps in connection with the first gear shifting operation have been performed. In other words, the first gear shifting operation will according to the present invention, take a little more time than a standard gear shifting operation, but after that, quick and comfortable gear shifting operations are provided according to the present invention. The first gear shifting operation can for example be performed in a driving situation in which there is plenty of time to perform the gear shifting operation, and to determine the clutch position C.sub.det to be used in one or more upcoming gear shifting operations after the first gear shifting operation.

(42) The clutch 106 is, according to an embodiment, controlled 270a to be in the determined clutch position C.sub.det when the gearbox 103 is changed into the target gear position G.sub.target in connection with the second subsequent gear shifting operation, as is illustrated by the dot-dashed line 534 in FIG. 5d. Thus, the determined clutch position C.sub.det is here used when the gear wheels and/or shafts in the gearbox 103 corresponding to the target gear position G.sub.target engage with each other.

(43) According to an embodiment, the clutch 106 is controlled 270b to be in the determined clutch position C.sub.det after the gearbox 103 has been changed into a target gear position G.sub.target in connection with the second subsequent gear shifting operation, e.g. at least initially during up-ramping of a powertrain torque T.sub.powertrain after the second gear changing operation.

(44) According to an embodiment, the clutch 106 is controlled 270a to be in the determined clutch position C.sub.det when the gearbox 103 is changed into the target gear position G.sub.target, and is also kept in this position thereafter, e.g. during the up-ramping.

(45) In this document, the closed clutch position C.sub.closed may be defined as the clutch being closed and no longer slipping, which also means that the rotational speeds for the clutch's input 102 and output 109 shafts are substantially equal. This may also be expressed as the clutch at this clutch position C.sub.closed is able to transfer a higher torque than an actual/momentary torque that is transferred to the input shaft 109 and/or to the driving wheels at a time instant.

(46) When the clutch 106 is in the slipping clutch position C.sub.slip, the clutch can according to an embodiment transmit a slip torque, which has a permitted and suitable value to wind up the play of the powertrain and/or to prepare the powertrain for the future torque increase/ramp. This may also be expressed as the powertrain is wound up when the clutch 106 is in the slipping clutch position C.sub.slip.

(47) Control/Activation of the clutch is usually carried out with the use of one or more actuators. These actuators may for example be hydraulic, pneumatic and/or electrically driven/activated/controlled.

(48) According to an aspect of the present invention, a system for controlling a backlash of a powertrain 130 included in a vehicle 100 in connection with a gear shifting operation is presented.

(49) With reference to FIGS. 1 and 5b-d, the system includes a clutch control unit 121, arranged for controlling 230, in connection with a first gear shifting operation, a clutch 106 included in the powertrain 130 to a slipping position C.sub.slip, in which slipping position C.sub.slip the clutch 106 transfers a slipping torque T.sub.slip being less than a torque T.sub.closed being transferred in a closed position C.sub.closed for the clutch.

(50) The system also includes an analysis unit 122, arranged for analyzing 240 a change of a rotational speed for an input shaft 109 of a gearbox 103 included in the powertrain 130.

(51) The system also includes a determination unit 123, arranged for determining 250 a position C.sub.det for the clutch 106, for which position C.sub.det the change {dot over ()} of the rotational speed has a value {dot over ()}.sub.det corresponding to a backlash torque T.sub.backlash, the backlash torque T.sub.backlash having a predetermined value suitable for eliminating the backlash.

(52) The clutch control unit 121 is further arranged for utilizing 270 the determined clutch position C.sub.det for controlling the clutch 106 in connection with a second subsequent gear shifting operation.

(53) The system according to the present invention can be arranged for performing all of the above, in the claims, and in the herein described embodiments method steps. The system is hereby provided with the above described advantages for each respective embodiment. The present invention is also related to a vehicle 100, such as a truck, a bus or a car, including the herein described system for controlling a backlash of a powertrain.

(54) The person skilled in the art will appreciate that a method for controlling a backlash of a powertrain according to the present invention can also be implemented in a computer program, which, when it is executed in a computer, instructs the computer to execute the method. The computer program is usually constituted by a computer program product 603 stored on a non-transitory/non-volatile digital storage medium, in which the computer program is incorporated in the computer-readable medium of the computer program product. Said computer-readable medium comprises a suitable memory, such as, for example: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash memory, EEPROM (Electrically Erasable PROM), a hard disk unit, etc.

(55) FIG. 6 shows in schematic representation a control unit 600. The control unit 600 comprises a computing unit 601, which can be constituted by essentially any suitable type of processor or microcomputer, for example a circuit for digital signal processing (Digital Signal Processor, DSP), or a circuit having a predetermined specific function (Application Specific Integrated Circuit, ASIC). The computing unit 601 is connected to a memory unit 602 arranged in the control unit 600, which memory unit provides the computing unit 601 with, for example, the stored program code and/or the stored data which the computing unit 601 requires to be able to perform computations. The computing unit 601 is also arranged to store partial or final results of computations in the memory unit 602.

(56) In addition, the control unit 600 is provided with devices 611, 612, 613, 614 for receiving and transmitting input and output signals. These input and output signals can contain waveforms, impulses, or other attributes which, by the devices 611, 613 for the reception of input signals, can be detected as information and can be converted into signals which can be processed by the computing unit 601. These signals are then made available to the computing unit 601. The devices 612, 614 for the transmission of output signals are arranged to convert signals received from the computing unit 601 in order to create output signals by, for example, modulating the signals, which can be transmitted to other parts of and/or systems in the vehicle.

(57) Each of the connections to the devices for receiving and transmitting input and output signals can be constituted by one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Orientated Systems Transport bus), or some other bus configuration; or by a wireless connection. A person skilled in the art will appreciate that the above-stated computer can be constituted by the computing unit 601 and that the above-stated memory can be constituted by the memory unit 602.

(58) Control systems in modern vehicles commonly comprise communication bus systems consisting of one or more communication buses for linking a number of electronic control units (ECU's), or controllers, and various components located on the vehicle. Such a control system can comprise a large number of control units and the responsibility for a specific function can be divided amongst more than one control unit. Vehicles of the shown type thus often comprise significantly more control units than are shown in FIGS. 1, 6 and 7, which is well known to the person skilled in the art within this technical field.

(59) In the shown embodiment, the present invention is implemented in the control unit 120. The invention can also, however, be implemented wholly or partially in one or more other control units already present in the vehicle, or in some control unit dedicated to the present invention.

(60) Here and in this document, units are often described as being arranged for performing steps of the method according to the invention. This also includes that the units are designed to and/or configured to perform these method steps.

(61) The at least one control unit 120 is in FIG. 1 illustrated as including separately illustrated units 121, 122, 123, 124, 125. These units 121, 122, 123, 124, 125 can, however, be logically separated by physically implemented in the same unit, or can be both logically and physically arranged together. These units 121, 122, 123, 124, 125 can for example correspond to groups of instructions, which can be in the form of programming code, that are input into, and are utilized by a processor/computing unit 601 when the units are active and/or are utilized for performing its method step, respectively.

(62) The present invention is not limited to the above described embodiments. Instead, the present invention relates to, and encompasses all different embodiments being included within the scope of the independent claims.