A Model Predictive Control approach to micro-slip control of Automated Manual Transmission systems

In this paper, we consider a Model Predictive Control (MPC) approach to micro-slip clutch control for driveline shuffle attenuation in vehicles with Automated Manual Transmission system. In particular, we introduce an original MPC formulation that effectively takes into account the performance tradeoff between the clutch slip regulation and the torsional oscillation attenuation. Within this formulation, saturation constraints on the clutch torque input as well as the positiveness of the slipping speed needed to avoid gear engagement during the slip are effectively handled. A linear model of the actuator-driveline system is employed to cast the underlying MPC optimization problem as a quadratic programme that, thanks to the effective actually available solvers, allows a fast online implementation of the controller on real transmission control unit platforms. Extensive simulation results and preliminary experimental vehicle tests are presented to show the effectiveness of the proposed approach.