Optimal Control of a Gearshift With a Dual-Clutch Transmission Available to Purchase

This paper presents a model for a heavy duty truck powertrain test rig with a dual-clutch transmission. For this powertrain model, an LQR controller is designed to compute the torque profiles for performing powershifts while both clutches are slipping. Since most of the system states are not measurable, a Kalman-Bucy filter is implemented to estimate the states. The controller and estimation performance will be discussed in detail using both simulation and measurement results.