Yes, the PDFs would help increase your domain rank as they are practically considered as pages by Google, as explained in their QnA here.
Regarding hosting the PDFs on a subdomain, Google has stated that it's almost the same as having them on a subfolder, but that is highly contested by everyone since it's much harder to rank a subdomain than a subfolder.
Regarding the canonical tags, they are created for "Similar or Duplicate Pages", so the content doesn't have to be identical, and you'll be good so long as most of the content is the same. Otherwise, you can safely have them both be and have backlinks linking from the pdf to the main content to transfer "link juice", as they are considered as valid links.
I hope my response was beneficial to you and that the included proof was substantial.
Daniel Rika