溫室效應、全球暖化已成為近年來最火熱的議題，藉著複合動力的方式驅動車輛，不但有助於溫室效應之改善，亦可提升車輛之動力。在混合動力車輛中，離合器正是達成模式切換最重要的原件。藉著離合器的接合或分離，便可以達成模式切換的功能。不過離合器要順利接合有許多條件需要考慮，像是離合器兩端扭力及轉速差、推動活塞推力、離合器片接合時間。若接合瞬間離合器兩端轉速相差太大，可能會導致離合器片磨損、需要較大的能量損耗或是使乘坐者察覺車輛的頓挫感；反之推動活塞的力道太小也可能使接合時間拉長，進而延長模式切換所需時間。本論文使用液壓離合器物理模型，並以模型為基礎來進行最佳化控制器設計。控制目標分為三個模式：第一模式為活塞被推動但尚未接合前，能使活塞推動速度最大化，縮短模式切換所需時間；第二模式為離合器片滑動狀態，並維持整體接合時間在可接受的範圍內；第三模式為離合器片接合後，提供較高程度的正向力，以避免離合器片打滑。由於液壓離合器模型存在多個控制目標及輸入限制條件，故本論文選擇使用模型預測控制(Model Predictive Control)來達成模式切換最佳化控制的方法。

The greenhouse effect and global warming have become the hottest issues in recent years. Driving the vehicle by hybrid power, it will not only contribute to the improvement of the greenhouse effect, but also increase the power of the vehicle. In hybrid vehicles, the clutch is the most important element for mode switching. The mode switching function can be achieved by the engagement or disengagement of the clutch. However, there are many conditions to be considered when the clutch is to be smoothly engaged. Such as the torque and rotation speed difference at both ends of the clutch、the thrust apply on the piston、clutch plate engagement time. If the speed difference between the two ends of the clutch is too large, it may cause the clutch plate to wear out, require more energy loss or make the passenger feel the frustration of the vehicle. Conversely the thrust that pushing the clutch too small may also make the engagement time too long, which in turn extends the time required for mode switching. This paper uses the physical model of hydraulic clutch, and design optimal controller based on the model. The control target is divided into three modes: the first mode is to maximize the piston moving speed and shorten the time required for mode switching before the piston is pushed but not yet engaged; the second mode is the slip state of the clutch plate and maintains the overall engagement time within an acceptable range; the third mode provides a higher normal force after the clutch plates are engaged and to avoid slippage of the clutch plates. Due to the hydraulic clutch model has multiple control targets and input constraints, this paper chooses to use Model Predictive Control to achieve mode switching optimization control.

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