The increasing burden of Controller Area Network (CAN) in PHEVs may induce time-varying delays into the mode transition process (MTP) system and damage the performance of MTP. This paper proposes an event-triggered H ∞ coordinated controller (EHCC) for the MTP of dual motor plug-in hybrid electric vehicles (DM-PHEVs). Firstly, a 13-degree of freedom (13-DOF) model of the transmission system of DM-PHEV is built to simulate the dynamic characteristic of DM-PHEV. Furthermore, according to the results of sensitivity analysis, the stiffness which has great influence on the vehicle dynamics is selected. A simplified 4-DOF mathematical model is built for controller design by ignoring other less important stiffness. Then, an event generator is developed as the threshold condition to check which measurements should be transmitted to the controller. Combing the event generator with H ∞ control strategy, EHCC is presented to improve the performance of MTP from electric mode to hybrid driving mode under external disturbance. Finally, simulation and hardware-in-the-loop (HiL) test demonstrate that the proposed EHCC can achieve similar performance to time-triggered H ∞ coordinated controller (THCC) while only utilizing 54% communication resources.

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Event-triggered H ∞ coordinated control based mode transition system of DM-PHEV