Speed Synchronization Control of the Integrated Motor-Transmission Powertrain over CAN with Network Delays and Constraint

The speed synchronization control of integrated motor-transmission (IMT) powertrain system over controller area network (CAN) with network-induced delays and bandwidth constraint for electric vehicles (EVs) is studied in this paper. CAN has many advantages over point-to-point communication. However, CAN also induces such problems as network-induced delays and bandwidth constraint, which would deteriorate the system performance or even cause the system instable. To deal with these problems, in this paper, firstly, the dynamics model of a clutchless IMT powertrain system for an EV is established and the speed synchronization control is explained. Secondly, the bandwidth utilization and the network-induced delays of CAN are analyzed. Furtherly, the time-delay dynamics model of the speed synchronization control system is established. Thirdly, an adaptive sliding mode controller (SMC) with a fuzzy-based dynamic sampling period scheduling unit is proposed to deal with the network-induced delays and the bandwidth constraint. The system stability is also demonstrated by Lyapunov stability theorem. Finally, the results of simulations show the effectiveness of the proposed controller.