Speed synchronization control of integrated motor-transmission powertrain over CAN through active period-scheduling approach

This paper deals with the speed synchronization control of integrated motor-transmission (IMT) powertrain systems in pure electric vehicles (EVs) over a controller area network (CAN) subject to both network-induced delays and network congestion. A CAN has advantages over point-To-point communication; however, it imposes network-induced delays and network congestion into the control system, which can deteriorate the shifting quality and make system integration difficult. This paper presents a co-design scheme combining active period scheduling and discrete-Time slip mode control (SMC) to deal with both network-induced delays and network congestion of the CAN, which improves the speed synchronization control for high shifting quality and prevents network congestion for the system's integration. The results of simulations and hardware-in-loop experiments show the effectiveness of the proposed scheme, which can ensure satisfactory speed synchronization performance while significantly reducing the network's utilization.