Application of Control Authority Transfer between Hierarchical Control Units

A hierarchical control architecture is commonly employed in hybrid torque control, where the supervisor CPU oversees system-level objectives, while the slave CPU manages lower-level control tasks. Frequently, control authority must be transferred between the two to achieve optimal coordination and synchronization. When a closed-loop component is utilized, accurately determining its actual contribution to the controlled system can be challenging. This is because closed-loop components are often designed to compensate for unknown dynamics, component variations, and actuation uncertainties. This paper presents a novel approach to closed-loop component factor transfer and coordination between two CPUs operating at different hierarchical levels within a complex system. The proposed framework enables seamless control authority transition between the supervisor and slave CPUs, ensuring optimal system performance and robustness. To mitigate disturbances and uncertainties during the transition, we introduce a model-based learning phase that reduces actuation mismatch. The effectiveness of the proposed approach is demonstrated through simulation results, focusing on the authority transfer of engine speed tracking between an engine control module and a hybrid powertrain supervisor. The results highlight the enhanced system performance and reliability achieved by the method described.