The Corun hybrid system (CHS) is a deeply coupled multiple-input–multiple-output (MIMO) hybrid system. The two inputs are the torques of the two motors. The two outputs are the carrier speed and transmission output torque. Using the traditional control method, the multi-objective control quality cannot be guaranteed because of the adopted static decoupling method and proportional–integral–derivative (PID) controllers. In this paper, the problems of the traditional control method are carefully analyzed, and a new control method is proposed. Instead of static decoupling, dynamic decoupling is adopted to improve the decoupling control effect. A predictive functional controller instead of a PID controller is adopted to deal with the pure delay caused by controller area network (CAN) communication. The tracking effect of the target value is further improved by predictive functional controllers. For the two decoupled subsystems, that is, the integral system and the second-order underdamped system, two predictive functional controllers are designed. The new control method was verified by simulations and tests. The results show that the new control method is superior to the traditional control method for CHS.

Corun 混合系统 (CHS) 是一种深度耦合的多输入多输出 (MIMO) 混合系统。两个输入是两个电机的扭矩。这两个输出是承载速度和变速器输出扭矩。传统的控制方法由于采用了静态解耦方法和比例-积分-微分（PID）控制器，无法保证多目标控制质量。本文仔细分析了传统控制方法存在的问题，提出了一种新的控制方法。采用动态解耦代替静态解耦，提高解耦控制效果。采用预测功能控制器代替PID控制器来处理控制器局域网（CAN）通信引起的纯延迟。预测功能控制器进一步提高了目标值的跟踪效果。对于两个解耦子系统，即积分系统和二阶欠阻尼系统，设计了两个预测功能控制器。通过仿真和试验验证了新的控制方法。结果表明，新的控制方法优于传统的CHS控制方法。