ANFIS Based Fractional-Order PID Speed and PI with Anti-Windup Current Control of Permanent Magnet Synchronous Motor for Electric Vehicle: The Case of ECADO-4EV

Abstract

Electric vehicles (EVs) are an alternative solution for the reduction of air pollution. Apart from the reduction of environmental pollution roles EV has problems with energy efficiency and utilization issues. PMSM is selected for electric vehicle propulsion because of highly efficient than other electric drives even though it’s high cost. Since any electric vehicle needs a precise motor speed and current controller which have better dynamic performances. In this research work, both speed and current control of PMSM are implemented. Vehicles are subject to severe disturbances and load variation while driving due to passenger boarding, road conditions, and resistive force which leads to the steady-state error on the actual speed. To mitigate these, ANFIS based FOPID speed controller is implemented. Naturally, electric motors have a high starting current overshoot. PI with Anti-Windup current controller cascaded in speed controller is implemented. To show the performance of the controller, vehicle dynamics (the case of ECADO-4EV), PMSM, and inverter models are done mathematically. The proposed system model is implemented using MATLAB Software. Different controllers are implemented for speed and current controllers of the PMSM motor. Based on the simulation, both ANFIS based FOPID and GA tuned FOPID speed controller has the steady-state error of 0% at no-load condition while GA tuned PID speed controller has a 0.016% steady-state error. Hence every time the vehicle has different loads. In this case, ANFIS based FOPID has better performance during load changes. It has 0% steady state error whereas GA tuned FOPID and GA tuned PID has 0.005% and 0.1% steady-state error respectively. In addition, GA tuned PI and GA tuned PI with Anti-Windup current controllers are implemented. GA tuned PI-AW current controller has 0.006% overshoot, 0% steady-state error, whereas GA tuned PI has 0.44% overshoot, 0.18% steady-state error. So, the GA tuned PI with Anti-Windup current controller of the PMSM has better performance