OMPRAKASH R

18F032

18MTPZ0
ELECTRIC VEHICLE TECHNOLOGY
Assignment - 2

PID control in EV vehicle applications:

International Journal of Recent Technology and Engineering (IJRTE) ISSN: 2277-3878, Volume-8,
Issue- 1S4, June 2019

 In Electric Vehicles (EV) energy is stored in rechargeable batteries which is used to drive one or
more electric motors. As electric vehicles are making big waves in automobiles world,
modelling and simulation of Electric Vehicle have got high attention among researchers.
 Controlling an Electric Vehicle is not an easy task, as the design and operational
parameters vary along with the road conditions. The article presents the design and
simulation of conventional control algorithms for Electric Vehicle.
 The transfer function model of the Electric Vehicle is considered for the design and analysis in
MATLAB/Simulink platform. It is found that Proportional Integral Derivative (PID) controller is
simple and feasible, along with better-closed loop performance with and without
disturbance.
 The work includes the control of the electric vehicle by designing three different control
algorithms: i) Cohen-Coon (CC), ii) Wang-Juang-Chan (WJC) and iii) Chine-HronesReswick
(CHR) algorithm for the second-order transfer function model.
 The resulted controller is also simulated using equivalent First-Order Plus Dead Time (FOPDT)
model of an electric vehicle. A comparative study has been carried out using its time domain
specifications. Also, Performance Indices namely 1) Integral Square Error (ISE), 2) Integral
Absolute Error (IAE), 3) Integral Time Absolute Error (ITAE), and 4) Integral Time Square Error
(ITSE) are evaluated in order to identify the superiority of control Tuning of the Controllers
mp PID.
 This section presents the general tuning process of the mp PID controllers. Some
important aspects to emphasize are described as follows:
(i) The output constraints can be transformed into constraints on the
error, especially when assuming the operating point at zero. The output
constraints for the electric vehicle DC motor case will be the maximum
speed allowed at a voltage of 48V.
(ii) The control signal constraints must be limited to ±48, since we need to
limit motor damage from overcurrent as the armature current is directly
dependent on the applied load and armature voltage, so the algorithm is
able to optimize the system within this set of constraints, unlike other
techniques which only insert constraint on control action without taking in
 account the constraints at tuning phase resulting in lower dynamic
performance of the vehicle DC motor.
(iii) The integral and derivative of the error values will be appropriately
chosen; i.e., they will be used as a tuning parameter and the influence of
these constraints will be evaluated in order to emphasize how the final
performance of the system is changed, in aspects such as overshooting and
stabilization time.
(iv) In a specific case we observe the difference between varying the operating
point and varying the reference. Wang-Juang-Chan tuning method is faster
compared to other tuning methodologies. Having said that it tends to have
large overshoot and maximum settling time.

Whereas, CohenCoon tuning method comparatively has minimum overshoot but, it is

slow in response. The Chine-Hrones Reswick method of tuning has an average settling
time compared to the other two tuning methods. When Cohen-Coon and ChineHrones-
Reswick tuning methods are applied, zero overshoot is observed. But, Cohen-Coon
method is taking maximum time to settle among the other methods. The Performance
Indices of Chine-Hrones-Reswickmethod of PID controller are better among the rest.
The work can be extended further to analyze the robustness both in simulation and real-
time environment.
Hindawi Journal of Control Science and Engineering Volume 2018, Article ID 6259049,
11 pages

 The Proportional Integral Derivative Controller (PID) has been widely used for
most industrial process, due to its simplicity and effectiveness in control .
This type of controller is commonly used in level, few, temperature, and
vehicular systems, as well as electric motors.
 In addition, the design of the PID controller is considered easy to
implement, since it is only necessary to tune three parameters Kp, Ki, and Kd
and tuning methods can be performed automatically.
 Some of most used PID tuning methods in control engineering literature are
Ziegler and Nichols, Cohen and Conn, Relay method, and Relates
Apparatus. These methods are effective and achieve excellent results when
controlling unconstrained mono variable systems although some of these
ones are also applicable for multivariate systems.
 A PID control for electric vehicles subject to input armature voltage and
angular velocity signal constraints is proposed. A PID controller for a vehicle DC
motor with a separately excited field winding considering the field current
constant was tuned using controlled invariant set and multiparametric
programming concepts to consider the physical motor constraints as angular
velocity and input armature voltage.
 ALGORITHM:
 Convert the continuous system into a state space system, where the
states are the errors and the input is the control action, according
to equation (11)
 Compute the maximal lambda contractive controlled invariant
set contained in the set of constraints, which must be
reexplained in terms of the new state representation
 Solve the mp-LP problem described in equation
 Compute the integral of error, error, and derivative of error
 Identify which polyhedral region the computed state belongs to.
 Use the acne control law to control the system with and being the
MP PID parameters, corresponding to the j-th polyhedral region
 If the control routine is not interrupted, return to step 4.
Some important aspects to emphasize are described as
follows:

1. The output constraints can be transformed into constraints

on the error, especially when assuming the operating point
at zero. The output constraints for the electric vehicle DC
motor case will be the maximum speed allowed at a
voltage of 48V.
 2. The control signal constraints must be limited to ±48V,
since we need to limit motor damage from overcurrent as
the armature current is directly dependent on the applied
load and armature voltage, so the algorithm is able to
optimize the system within this set of constraints, unlike
other techniques which only insert constraint on control
action without taking in account the constraints at tuning
phase resulting in lower dynamic performance of the vehicle
DC motor.
3. The integral and derivative of the error values will be
appropriately chosen; i.e., they will be used as a tuning
parameter and the influence of these constraints will be
evaluated in order to emphasize how the final
performance of the system is changed, in aspects such as
overshooting and stabilization time.
4. The main tuning parameter of the mp PID controller is the
value of. It is related to the contractility and will also be
an observed parameter.
5. In a specific case we observe the difference between varying
the operating point and varying the reference.

 This paper presented a PID controller for electric vehicle DC motors based on proving
the functionality of the proposed algorithm from a set of simulations.
 The algorithm proved that it is possible to generate control actions that consider the 48V
limits of the motor, as well as forcing the output speed of the motors to be limited to their
specified values
 . In addition, it was verified that the integral and derivative of the error constraints make
tuning parameters “constrain” the performance of the process output.