| 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. |