CAN-Induced Asynchronous Random Delays-Considered Mode Transition System for DM-PHEV Based on Constrained Output Feedback Robust Control Strategy

This paper presents a constrained robust output feedback
$\mathrm{{H}}\infty /\mathrm{{H}}_{2}$
control-based coordinated delay controller (ROHD) to deal with the controller area network (CAN) induced asynchronous delays which exist in the mode transition process (MTP) of a dual motor plug-in hybrid electric vehicle (DM-PHEV). Due to the multiple actuators of DM-PHEV and the limitation of network transmission rate, the control of MTP from electric driving mode (EM) to hybrid driving mode (HM) based on CAN bus inevitably induces random asynchronous delays. Firstly, the problem of MTP with CAN-induced delay is formulated and a mathematical model of MTP with asynchronous delays is built. In order to deal with the model uncertainty and the interference introduced by the measurement signals, ROHD controller is designed to achieve a fast, smooth and stable MTP in the presence of CAN-induced delays. Simulation and hardware-in-the-loop (HiL) test demonstrate that the torque demand and ride comfort of MTP with network-induced delays controlled by proposed controllers are better than those controlled by traditional robust controller.