Lyapunov based predictive control of vehicle drivetrains over CAN

Robust driveshaft torque observer design for stepped ratio transmission in electric vehicles

“…The driveshaft torque is modeled as a spring and damper system, which can be expressed as [16,17] 0 0…”

Mitigating Instability in Electric Drive Vehicles Due to Time Varying Delays with Optimised Controller

“…The unknown and time-varying delays of the network communication between different controllers could degrade the control performance of the entire system or even make the system unstable. For example, according to the research of Caruntu et al, time varying delays of the CAN can lead to driveline oscillations in the control of a vehicle drive train [11]. However, the instability in electric vehicle makes it difficult to be designed and used in normal road conditions.…”

“…In other words, the 4WID-EV was considered as a centralized control system. Rather, with the development and appearance of invehicle networks and x-by-wire technologies, the control signals from the controllers and the measurements from some sensors are exchanged using a communication network in modern vehicles [11], i.e., Controller Area Network (CAN). Thus, a 4WID-EV is a networked control system rather than a centralized control system, which imposes the effects of network-induced delays into the control loop.…”

Speed Synchronization Control of Integrated Motor–Transmission Powertrain over CAN through Active Period-Scheduling Approach

“…Moreover, compared with internal-combustion engine (ICE), electric motor generally owns much higher efficiency, better starting performances, and a flatter efficiency map. The mechanical clutch and even transmission are no longer necessary in centralized motor-driven EVs [7,8]. The centralized signals and measurement signals are exchanged among them via the shared CAN.…”