Abstract Research on the robustness of clutch engagement control is attracting considerable interest because of its wide applications in advanced powertrains. Internal model control (IMC) is advantageous because it can handle model errors and external disturbances with light computational loads. However, during clutch engagement, two control inputs (engine output torque and clutch transmitted torque) and two system outputs (driving speed and the driven part of the clutch) are coupled; moreover, the two reference inputs are considerably different. A method for directly decoupling and stabilizing multi-input multi-output systems controlled by a two-degree-of-freedom (2DOF) IMC is proposed based on the construction of V-canonical matrices. The proposed method allows simple expressions for the control algorithm to be obtained without computing an inverse matrix that is used conventionally. Two filters, considering both the reference inputs and system characteristics, are independently designed considering the decoupling operation. The simulation results show that the proposed decoupling 2DOF IMC gains a considerably less tracking error and better robustness to model error and disturbance compared to classical 2DOF IMC and model predictive control. The performance is validated via dynamometer experiments.

中文翻译：

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离合器稳健接合的解耦内部模型控制

摘要 离合器接合控制的鲁棒性研究因其在先进动力系统中的广泛应用而引起了相当大的兴趣。内部模型控制 (IMC) 是有利的，因为它可以处理具有轻计算负载的模型错误和外部干扰。然而，在离合器接合期间，两个控制输入（发动机输出扭矩和离合器传递扭矩）和两个系统输出（驱动速度和离合器的从动部分）耦合；此外，两个参考输入有很大不同。基于V-典型矩阵的构造，提出了一种直接解耦和稳定由二自由度（2DOF）IMC控制的多输入多输出系统的方法。所提出的方法允许获得控制算法的简单表达式，而无需计算常规使用的逆矩阵。考虑到参考输入和系统特性，两个滤波器是独立设计的，考虑了去耦操作。仿真结果表明，与经典的 2DOF IMC 和模型预测控制相比，所提出的解耦 2DOF IMC 获得了显着更小的跟踪误差和更好的模型误差和干扰鲁棒性。通过测功机实验验证了性能。仿真结果表明，与经典的 2DOF IMC 和模型预测控制相比，所提出的解耦 2DOF IMC 获得了显着更小的跟踪误差和更好的模型误差和干扰鲁棒性。通过测功机实验验证了性能。仿真结果表明，与经典的 2DOF IMC 和模型预测控制相比，所提出的解耦 2DOF IMC 获得了显着更小的跟踪误差和更好的模型误差和干扰鲁棒性。通过测功机实验验证了性能。