混合动力汽车（HEV）是实现汽车节能减排的重要途径，它引入了电机作为额外动力源，电机既能与发动机配合实现高效的混合驱动，又能与机械制动结合实现回收能量复合制动。与传统燃油车不同，HEV 机电耦合系统包含了驱动和制动子系统，二者在功能上深度耦合，并直接关系到整车的动力性、燃油经济性、安全性和平顺性。因此，机电耦合系统的设计与运行控制是HEV的核心技术。 论文以客车混合动力系统为研究对象，面向精确的执行控制、平顺的模式切 换、高效的能量优化等需求，针对实际中执行机构的非线性与不确定性、运行过程的瞬态冲击、动力学与能量的深度耦合等难题，展开了四个方面的研究： （1）设计了机电耦合系统的离合与换档执行机构，并提出了精准作动的控制方法，解决了其非线性与不确定性难题。分析了离合器分离力特性和磨损变化，设计了基于负载力估计和磨损修正的模型预测控制器，实现了离合位置的精准控制；将换档分为三个阶段，据此提出了“力-位置-力”切换控制方法，并设计了双闭环自学习控制器，消除了换档机构不一致性带来的影响，实现了平顺快速换档。 （2）设计了安全冗余的机电复合线控制动系统，并提出了气压精准调控方法，为驱/制动协同控制提供了执行器件。针对常见的两种气压调节阀——压力调节阀和电控气压阀模块，提出了基于实验数据的类脉宽调制控制方法，实现了制动气压的精准调控。 （3）设计了基于驱/制动协同的系统运行控制方法——电机起动发动机控制与降档制动能量回收控制。建立了电机起动发动机多阶段动力学模型，据此提出了分层控制策略，实现了发动机的平顺、快速起动；分析了降档对制动能量回收的影响，提出了基于规则和动态规划的降档策略，显著提升了制动能量回收率。 （4）设计了 HEV 跟车过程中的能量优化策略，融合了自适应巡航控制（ACC）与能量管理策略（EMS）。建立了 HEV 动力总成的等效效率模型，对各部件的效率进行了归一化处理；设计了 HEV 跟车控制中动力性与经济性的综合评价指标；提出了基于非线性模型预测控制的 ACC 与 EMS 融合控制方法，并设计了枚举和混沌粒子群两种优化方法，有效降低了 HEV 跟车过程中的能量消耗。研究成果应用到商用车混动系统的自主开发中，成果打破了国外的技术垄断。相关技术在客车、卡车上得到了大规模应用。

Hybrid electric vehicle (HEV) is the key way of energy saving and emission reduction for vehicles. It introduces the electric motor as an extra power source. The electric motor can be coordinated with engine to realize efficient hybrid driving and with mechanical brake system to realize regenerative braking. Different from conventional fuel vehicle, the electromechanical coupling system of HEV contains the drive system and brake system, which are coupled with each other deeply in the aspect of components and functions. Besides, they have direct influences on vehicle’s dynamic performance, fuel economy, safety and ride comfort. Therefore, design and operating control of electromechanical coupling system are the core technologies for HEV.This study selects the hybrid electric bus as the research object, and orients the requirements of precise action control, smooth mode transition, and efficient energy optimization. To deal with the challenges of nonlinearity and uncertainty of actuator, transient impact during running process, deep coupling between dynamic and energy, and so on, four aspects of research have been carried out:(1) Actuators of clutch and shift in transimission system are designed, and control methods of precise action are proposed, which could solve the problems of nonlinearity and uncertainty. To realize the precise clutch position control, throw-out force characteristics and wear variation of clutch are analyzed and a model predictive controller (MPC) is designed based on load torque estimation and wear correction. The gear shift process is divided into three stages, based on which a force-position-force switch control method is proposed. By designing dual-loop self learning controller, the influences of shift actuator’s inconsistency are eliminated, and smooth and fast gear shift is realized.(2) A kind of safe and redundant electromechanical brake by wire (EBW) system is designed, and a precise pneumatic control method is proposed, which provides the action basics for cooperative control of drive/brake system. The components and their functions are introduced. For two common pneumatic adjusting valves, ABS valve and EPV module, a resembled PWM method is proposed based on experiment data, by which the precise pneumatic control is realized.(3) System operating control methods based on cooperation of drive and brake are designed, which are engine-start by electric motor and downshifting control during regenerative brake. A multi-stage dynamic model of engine-start process is built, and a hierarchical control strategy is proposed to realize smooth and fast engine-start. The downshifting influences on regenerative brake are analyzed, and two downshift strategies based on rules and dynamic programming are proposed, which significantly improves the brake energy recovery rate.(4) An energy optimization strategy during car-following process is designed, which fuses adaptive cruise control (ACC) and energy management strategy (EMS). An equivalent efficiency model of HEV powertrain is established and the efficiency of each component is normalized. The HEV car-following control problem is formulated and the comprehensive evaluation index of dynamic performance and fuel economy is designed. A fusion control method of ACC and EMS based on nonlinear MPC is proposed, and two optimization methods, enumeration and chaos particle swarm optimization, are designed for MPC, which reduces the energy consumption during HEV car-following process effectively.The research results support the independent industrialization of commercial vehiclehybrid power system, and breaks the foreign technology monopoly. Relevant technologieshave made a large-scale application in buses and trucks.