Different Control Techniques of Permanent Magnet Synchronous Motor with Fuzzy Logic for Electric Vehicles: Analysis, Modelling, and Comparison
Abstract
:1. Introduction
2. System Configuration and Modeling
2.1. Mathematical Model of the Electric Vehicle
2.1.1. Rolling Resistance Force
2.1.2. Aerodynamic Drag
2.1.3. Slope Force
2.1.4. Acceleration Force
2.2. Voltage Source Inverter Model
2.3. Permanent Magnet Synchronous Motor Model
2.4. Battery Model
3. Control Topologies
3.1. Direct Torque Control (DTC)
3.2. Fuzzy Direct Torque Control (FDTC)
3.2.1. Fuzzification
- For torque error. The torque error () can be classified into three linguistic variables: “Negative” (N), “Zero” (Z) and “Positive” (P). These variables are inspired by the behavior of a three-level hysteresis comparator. As illustrated in Figure 7a, the variable Z is represented by a triangular MF, while L and H are represented by trapezoidal MFs.
- For stator flux error. The stator flux error () can be classified into two linguistic variables “Negative” (N) and “Positive” (P) inspired from the behavior of the two-level hysteresis comparator. As shown in Figure 7b, the L and H variables are represented by two trapezoidal MFs.
- For stator flux angle. The stator flux angle () can be divided into six linguistic variables ( to ) inspired by the six sectors of the sector selector. As shown in Figure 7c, the six variables are represented by isosceles triangular MFs.
3.2.2. Fuzzy Control Rules
3.2.3. Defuzzification
3.3. Model Predictive Direct Torque Control (MPDTC)
3.3.1. Current, Flux and Torque Predictions
3.3.2. Cost Function Minimization
3.3.3. Time Delay Compensation
3.4. Fuzzy Logic Speed Control
4. Simulation Results and Discussion
4.1. Comparison between Different Control Techniques
4.2. Dynamic Performance of the Battery for DTC, FDTC and MPDTC
5. Real-Time Platform Using RT-LAB
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Parameters | Values | Units |
---|---|---|
Vehicle total mass | 1325 | kg |
Air density () | 1.20 | kg/m² |
Frontal area () | 2.57 | m² |
Tire radius (r) | 0.30 | m |
Drag coefficient () | 0.30 | - |
Gear ratio (G) | 5.20 | - |
Voltage Vectors V | Voltage Vectors V | ||
---|---|---|---|
(0, 0, 0) | (0, 1, 1) | ||
(1, 0, 0) | (0, 0, 1) | ||
(1, 1, 0) | (1, 0, 1) | ||
(0, 1, 0) | (1, 1, 1) |
Parameters | Values | Units |
---|---|---|
Rated power () | 50 | kW |
Stator resistance () | 6.5 | mΩ |
Stator inductance (, ) | 8.35 | mH |
PM magnet flux () | 0.1757 | Wb |
Number of pole pairs (p) | 4 | - |
Motor inertia (J) | 0.089 | kg.m² |
Viscous damping (f) | 0.005 | N.s/m |
HTe | HϕS | Sector N | |||||
---|---|---|---|---|---|---|---|
N1 | N2 | N3 | N4 | N5 | N6 | ||
1 | 1 | V3 | V4 | V5 | V6 | V1 | V2 |
0 | V2 | V3 | V4 | V5 | V6 | V1 | |
0 | 1 | V7 | V0 | V7 | V0 | V7 | V0 |
0 | V0 | V7 | V0 | V7 | V0 | V7 | |
−1 | 1 | V6 | V1 | V2 | V3 | V4 | V5 |
0 | V5 | V6 | V1 | V2 | V3 | V4 |
eTe | eϕS | Angle θ | |||||
---|---|---|---|---|---|---|---|
θ1 | θ2 | θ3 | θ4 | θ5 | θ6 | ||
P | P | V2 | V3 | V4 | V5 | V6 | V1 |
N | V3 | V4 | V5 | V6 | V1 | V2 | |
Z | P | V7 | V0 | V7 | V0 | V7 | V0 |
N | V0 | V7 | V0 | V7 | V0 | V7 | |
N | P | V6 | V1 | V2 | V3 | V4 | V5 |
N | V5 | V6 | V1 | V2 | V3 | V4 |
de | e | |||||||
NB | NM | NS | ZE | PS | PM | PB | ||
NB | NB | NB | NB | NB | NM | NS | EZ | |
NM | NB | NB | NB | NM | NS | EZ | PS | |
NS | NB | NB | NM | NS | EZ | PS | PM | |
ZE | NB | NM | NS | EZ | PS | PM | PB | |
PS | NM | NS | EZ | PS | PM | PB | PB | |
PM | NS | EZ | PS | V5 | PB | PB | PB | |
PB | EZ | PS | PM | PB | PB | PB | PB |
Performances | DTC | FDTC | MPDTC | Improvement (%) MPDTC Compared to FDTC | Improvement (%) MPDTC Compared to DTC |
---|---|---|---|---|---|
Torque ripples (N.m) | 2.40 | 1.90 | 0.65 | 65.78 | 72.92 |
Flux ripples (Wb) | 0.004 | 0.002 | 0.001 | 50 | 75.00 |
Speed ripples (km/h) | 0.00022 | 0.00011 | 0.00005 | 50.54 | 77.27 |
THD (%) | 6.64 | 5.28 | 3.37 | 36.17 | 49.24 |
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Kakouche, K.; Oubelaid, A.; Mezani, S.; Rekioua, D.; Rekioua, T. Different Control Techniques of Permanent Magnet Synchronous Motor with Fuzzy Logic for Electric Vehicles: Analysis, Modelling, and Comparison. Energies 2023, 16, 3116. https://doi.org/10.3390/en16073116
Kakouche K, Oubelaid A, Mezani S, Rekioua D, Rekioua T. Different Control Techniques of Permanent Magnet Synchronous Motor with Fuzzy Logic for Electric Vehicles: Analysis, Modelling, and Comparison. Energies. 2023; 16(7):3116. https://doi.org/10.3390/en16073116
Chicago/Turabian StyleKakouche, Khoudir, Adel Oubelaid, Smail Mezani, Djamila Rekioua, and Toufik Rekioua. 2023. "Different Control Techniques of Permanent Magnet Synchronous Motor with Fuzzy Logic for Electric Vehicles: Analysis, Modelling, and Comparison" Energies 16, no. 7: 3116. https://doi.org/10.3390/en16073116