Research on the Adaptive PID Speed Control Method for Hub Motors

Abstract

With the increase in tightening of carbon neutral policies, electric new energy vehicles have become a top priority in the development of the automotive industry. The integrated electric vehicle wheel (hub motor) can effectively optimize the vehicle structure and reduce the weight of the vehicle and reduce the energy consumption. At the same time, the feature that four tires can be driven separately is also conducive to the application of various new control algorithms. In this paper, a generalized adaptive PID control is experimented with the speed control of the hub motor, and a fuzzy control-based variable step method is proposed for the overshoot or even runaway problem caused by the inertia of the hub motor in the process of adaptive PID control. Experiments have demonstrated that this method can effectively reduce the amount of overshoot triggered by adaptive control and shorten the regulation time into a steady state.

In-Wheel Motor Control System for Four-Wheel Drive Electric Vehicle Based on CR-GWO-PID Control

“…The motor power is 8 kW, 25.6 N•m. The relationship between vehicle speed and motor speed can be expressed by Equation (15). By simulating the road conditions and knowing the vehicle's maximum driving speed v a , we can calculate the maximum speed of the motor n max .…”

“…The test results indicated that the robustness and stability were improved. Later, Zhang et al [15] applied adaptive PID control to the speed control of an in-wheel motor. Due to the reliability, universal applicability, and maturity of PID control, this study proposes a PID controller based on an optimization algorithm, applying the improved PID controller to a four-wheel-drive electric vehicle driven by in-wheel motors.…”