Torque Compensate Control of 4WID-EV under Non-ideal Network Conditions Based on FTTCAN

Abstract

Controller Area Network has been widely used in four-wheel-independent-drive electric vehicle control system. However, non-ideal onboard network conditions (e.g. communication delay, data packet missing) could have significant negative influence on the real-time performance and stability of vehicle dynamics control. In order to eliminate the negative influence, flexible time-triggered CAN is introduced, which support the reuse of existing CAN based applications and restrict the communication delay efficiently, through a case study of direct yaw-moment control, a compensate method is proposed to cope with data packet missing and achieve better control results.