并联式气电混合动力系统排放少、动力性好，在低碳船舶上的应用前景广阔。但是，受多个执行延迟不确定的影响，混合动力模式切换过程中传动轴系易发生转速异常波动甚至剧烈冲击。本文提出级联内模控制（Internal Mode Control，IMC）思路，设计显式包含名义延迟信息的滤波器，提高转速跟踪性能，消除延迟的影响。首先建立动力传动系统动力学模型，然后根据切换过程以离合器为分界的传动机理，设计级联IMC，包括抗饱和补偿器、两级跟踪控制器和两级抗干扰控制器，推导满足不确定延迟上界的鲁棒稳定性条件。仿真与台架试验结果表明，级联IMC对不确定延迟具有良好的鲁棒性，显著降低模式切换过程轴系冲击度，实现平稳切换。

Parallel gas-electric hybrid systems gains broad application prospects in low-carbon ships benefiting from few emissions and dynamic performance. However, due to uncertain delays of multiple actuators during mode transition, the shaft speed along the power drive tends to fluctuate violently. In this paper, a cascaded Internal Mode Controller (IMC) consisting of filters with explicit nominal delay is proposed to improve speed tracking performance and eliminate the effect of delay. A dynamic model of the marine driveline is built, then, the cascade IMC is designed according to the driveline mechanism in which the clutch serves as the separating component . The cascade IMC includes an anti-saturation compensator, a two-stage tracking controller and a two-stage anti-interference controller. Finally, the small-gain theorem is derived to ensure robust stability conditions, taking the upper bound of the uncertain delays into consideration. The results of simulation and dynamometer test show that the cascaded IMC has good robustness to deal with uncertain delays, significantly reduces shaft jerk and obtains smooth mode transition.