PSO-Optimized FOPID Controller for Electric Vehicle: Comparative study
DOI:
https://doi.org/10.66950/0e7w3056Keywords:
Two-Wheel Drive Electric Vehicle (TWDEV), Electronic Differential (ED), Fractional Order PID (FOPID) Controller, Particle Swarm Optimization (PSO)Abstract
This research conducts a comparative evaluation of a conventional Proportional-Integral-Derivative (PID) controller and a Fractional Order PID (FOPID) controller, enhanced through the Particle Swarm Optimization (PSO) algorithm, for a Two-Wheel Drive Electric Vehicle (TWDEV) equipped with an electronic differential. The electronic differential plays a crucial role in distributing torque to the wheels based on speed and road conditions, ensuring smooth cornering and improved vehicle maneuverability. The performance evaluation is carried out through simulations in MATLAB/Simulink. The PSO-optimized FOPID controller outperforms the conventional PID by preventing overshoot, reducing torque peak, and minimizing torque ripple under varying conditions. Its adaptability enhances vehicle handling, traction control, and efficiency, improving TWDEV performance and driving comfort.
References
(1) Ahmed Abd El Baset Abd El Halim, Ehab Hassan Eid Bayoumi, Walid El-Khattam, and Amr Mohamed Ibrahim, “Electric vehicles: a review of their components and technologies”, International Journal of Power Electronics and Drive Systems (IJPEDS), Vol. 13, No. 4, 2022. http://doi.org/10.11591/ijpeds.v13.i4.pp2041-2061 DOI: https://doi.org/10.11591/ijpeds.v13.i4.pp2041-2061
(2) Emmanuel Agamloh, Annette von Jouanne, and Alexandre Yokochi, “An overview of electric machine trends in modern electric vehicles. Machines”, v. 8, no. 2, machines, 2020.
https://doi.org/10.3390/machines8020020 DOI: https://doi.org/10.3390/machines8020020
(3) K. Boby, A.M. Kottalil, N.P. Ananthamoorthy, Mathematical modelling of pmsm vector control system based on SVPWM with pi controller using Matlab, International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering. E-ISSN: 2278 – 8875, Vol.2, Issue 1, pp. 689-695, january 2013.
(4) AHMED, W.A.E.M.; ADEL, M.M.; TAHA, M.; SALEH, A.A, “PSO technique applied to sensorless field-oriented control PMSM drive with discretized RLfractional integral”, Alexandria Engineering Journal, v. 60, Issue 4,pp. Pages 4029-4040, 2021. https://doi.org/10.1016/j.aej.2021.02.049 DOI: https://doi.org/10.1016/j.aej.2021.02.049
(5) L. Saihi, A. Bouhenna, M. Chenafa, A. Mansouri, “A robust sensorless SMC of PMSM based on sliding mode observer and extended Kalman filter”, Proc. 4th International Conference on Electrical Engineering (ICEE), Boumerdes, Algeria, 2015, pp. 1-4, doi: https://doi.org/10.1109/INTEE.2015.7416838. DOI: https://doi.org/10.1109/INTEE.2015.7416838
(6) Adeel Ahmad Jamil, Wen Fu Tu, Syed Wajhat Ali, Yacine Terriche , and Josep M. Guerrero, “Fractional-Order PID Controllers for Temperature Control: A Review”, Energies, Vol. 15, Issue 10, 2022. https://doi.org/10.3390/en15103800 DOI: https://doi.org/10.3390/en15103800
(7) Y. Ahmed, A. Hoballah, E. Hendawi, S. Al Otaibi, S. K. Elsayed, N. I. Elkalashy, “Fractional order PID controller adaptation for PMSM drive using hybrid grey wolf optimization,” International Journal of Power Electronics and Drive System (IJPEDS), Vol. 12, No. 2, 2021, pp. 745~756 ISSN: 2088-8694, doi: https://doi.org/10.11591/ijpeds.v12.i2.pp745-756. DOI: https://doi.org/10.11591/ijpeds.v12.i2.pp745-756
(8) Eka Marliana, Arif Wahjudi, Latifah Nurahmi, I Made Londen Batan, and Guowu Wei, “Optimizing the Tuning of Fuzzy-PID Controllers for Motion Control of Friction Stir Welding Robots”, Journal of Robotics and Control (JRC), Volume 5, Issue 4, 2024. https://doi.org/10.18196/jrc.v5i4.21697
(9) Naqvi S.S.A., Jamil H., Iqbal N., Khan S., Lee D.-I., Park Y.C., Kim D.H., Multi-objective optimization of PI controller for BLDC motor speed control and energy saving in electric vehicles: A constrained swarm-based approach, Energy Reports, Vol.12, 2024, pp. 402-417. https://doi.org/10.1016/j.egyr.2024.06.019 DOI: https://doi.org/10.1016/j.egyr.2024.06.019
(10) Merve Yldrm, Eyyüp Öksüztepe, Burak Tanyeri, and Hasan Kürüm, “Electronic Differential System for an Electric Vehicle with In-Wheel Motor”, in Proc. 9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Turkey, pp. 1048-1052, 2015, doi: https://doi.org/10.1109/ELECO.2015.7394567. DOI: https://doi.org/10.1109/ELECO.2015.7394567
(11) M. Yerri Veeresh, V. Naga Bhaskar Reddy, and R. Kiranmayi, “Modeling and Analysis of Time Response Parameters of a PMSM-Based Electric Vehicle with PI and PID Controllers”, Engineering, Technology & Applied Science Research, Vol. 12 No. 6, pp. 9737-9741, December, 2022. https://doi.org/10.48084/etasr.5321 DOI: https://doi.org/10.48084/etasr.5321
(12) P. Ramesh, M. Umavathi, C. Bharatiraja, G. Ramanathan, Sivaprasad Athikkal, “Development of a PMSM motor field-oriented control algorithm for electrical vehicles”, Materials Today, Volume 65, Part 1, pp. 176-187, 2022. https://doi.org/10.1016/j.matpr.2022.06.080 DOI: https://doi.org/10.1016/j.matpr.2022.06.080
(13) B. Sebti, O. Bouakaz, B. Zegueb, and F. Naceri, “Robust Direct Torque and Flux Control of Adjustable Speed Sensorless PMSM”, International Conference on Electronics & Oil: from theory to applications (ICEO’11), 2011.
(14) P. T K, V. Yadav, V. K. Tayal, and P. Choudekar, “PID control design for a temperature control system”, In Proc. International Conference on Power Energy, Environment and Intelligent Control (PEEIC), Greater Noida, India, pp. 632-637, 2018, doi: https://doi.org/10.1109/PEEIC.2018.8665469. DOI: https://doi.org/10.1109/PEEIC.2018.8665469
(15) Mohamed Jasim Mohamed, and Luay Thamir Rasheed, “Design of Nonlinear PID and FOPID Controllers for Electronic Throttle Valve Plate’s Position”, Journal of Electrical and Computer Engineering, pp :1-17, June 2024. https://doi.org/10.1155/2024/9984750 DOI: https://doi.org/10.1155/2024/9984750
(16) R. H. Ghobashy, M. M. I. Ali, and M. A. M. Hassan, “Voltage regulation of PV system connected to grid based on FOPID controllers using evolutionary computational techniques”, Twentieth International Middle East Power Systems Conference (MEPCON), Cairo, Egypt, 2018, pp. 33-38, doi: https://doi.org/10.1109/MEPCON.2018.8635121. DOI: https://doi.org/10.1109/MEPCON.2018.8635121
(17) P. D. Dewangan, V. P. Singh, and S. L. Sinha, “Design of FOPID controller for higher order continuous interval system using improved approximation ensuring stability,” SN Applied Science. Vol. 3, Art. N° 493, 2021. https://doi.org/10.1007/s42452-021-04492-w DOI: https://doi.org/10.1007/s42452-021-04492-w
(18) W. Khan-Ngern and W. Keyoonwong, “Embedded electronic differential system on two brushless DC motor drives for electric vehicle steering control”, IEEE International Conference on Embedded Systems and Intelligent Technology & International Conference on Information and Communication Technology for Embedded Systems (ICESIT-ICICTES), Khon Kaen, Thailand, pp. 1-4, 2018, doi: https://doi.org/10.1109/ICESIT-ICICTES.2018.8442060. DOI: https://doi.org/10.1109/ICESIT-ICICTES.2018.8442060
(19) Merve Yldrm, and Hasan Kürüm, “Electronic Differential System for an Electric Vehicle with Four In-wheel PMSM”, IEEE 91st Vehicular Technology Conference (VTC2020-Spring), Antwerp, Belgium, pp. 1-5, 2020, doi: https://doi.org/10.1109/VTC2020-Spring48590.2020.9129139. DOI: https://doi.org/10.1109/VTC2020-Spring48590.2020.9129139
(20) Kada Hartani, Mohamed Bourahla, Yahia Miloud, Mohamed Sekour, “Electronic Differential with Direct Torque Fuzzy Control for Vehicle Propulsion System”, Turk J Elec Eng & Comp Sci, Vol.17, No.1, 2009, TUBITAK, doi: https://doi.org/10.3906/elk-0801-1 DOI: https://doi.org/10.3906/elk-0801-1
(21) KENNEDY, J.; EBERHART, R. “Particle Swarm Optimization”, Proceedings of IEEE International Conference on Neural Networks, IEEE Press: Piscataway, NJ, USA, pp. 1942–1947, Perth, WA, Australia, 1995. DOI: https://doi.org/10.1109/ICNN.1995.488968
(22) Touhami Nawal, Ouled-Ali Omar, and Mansouri Smail, “Enhanced dynamics of sensorless two-wheel drive electric vehicles through electronic differential and advanced metaheuristic algorithms”, Studies in Engineering and Exact Sciences, Vol. 5, N° 2, 2024. pp. 01-22, https://doi.org/10.54021/seesv5n2-718 DOI: https://doi.org/10.54021/seesv5n2-718
(23) Francesca Pace, Alessandro Santilano, and Alberto Godio, “A Review of Geophysical Modeling Based on Particle Swarm Optimization”, Surveys in Geophysics, Vol. 42, pp. 505–549, 2021. https://doi.org/10.1007/s10712-021-09638-4 DOI: https://doi.org/10.1007/s10712-021-09638-4
(24) GAD, A.G. “Particle Swarm Optimization Algorithm and Its Applications : A Systematic Review”, Archives of Computational Methods in Engineering, Vol. 29, pp. 2531–2561, 2022. https://doi.org/10.1007/s11831-021-09694-4. DOI: https://doi.org/10.1007/s11831-021-09694-4
Downloads
Published
Issue
Section
License
Copyright (c) 2026 Nawal TOUHAMI , Smail MANSOURI, Omar OULED-ALIi (Author)
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License. Authors retain copyright and grant the journal right of first publication.
