Speed synchronization control of electric vehicle's IMT powertrain systems over CAN with bandwidth constraint

This paper deals with the speed synchronization control of integrated motor-transmission (IMT) powertrain system over controller area network (CAN) with bandwidth constrains for electric vehicles (EVs). In-vehicle network and networked control technologies have considerable advantages over traditional point-to-point communication, however, on the other hand, the in-vehicle network would inevitably bring the bandwidth constrain, which would degrade the real-time ability of control system and increase the difficulty of system integration, even cause the system unstable. To enjoy these advantages and deal with the network bandwidth constraint, a co-design approach combining an adaptive sliding mode controller (SMC) with a fuzzy-based dynamic sampling period scheduling strategy is proposed in this paper. Firstly, a discrete-time dynamics model for a clutchless IMT powertrain of an EV is established and the speed synchronization control is explained. Secondly, to achieve a good response, a SMC with a variable boundary layer is adopted and its stability is demonstrated by Lyapunov stability theorem. Thirdly, a fuzzy-based dynamic sampling period scheduling approach is proposed to deal with the bandwidth constraint. The results of simulations show the proposed approach can effectively deal with bandwidth constraint while ensuring the stability of the speed synchronization control.