Real-time extremum seeking controller for brushless DC hub motors in electric vehicles
Published in IET Electric Power Applications, 2020
Recommended citation: Ramaraj, R., Dharmaraj, G., Srinivasan, S., Balasubramanian, S., Periyasamy, M., & Bekiroglu, K. (2020). Real‐time extremum seeking controller for brushless DC hub motors in electric vehicles. IET Electric Power Applications, 14(12), 2438-2449. https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/iet-epa.2020.0117
This study presents an extremum seeking-proportional–integral and derivative (ES-PID) controller design for brushless direct current motors and its implementation in electric vehicles. The ES-PID controller aims to simultaneously maintain a speed set-point and reduce torque ripples in the presence of load-torque disturbances. The proposed ES-PID combines the simplicity of a PID controller with an extremum seeking approach, a model-free optimisation approach, thereby resulting in an optimal controller that can be realised on simple hardware (with limited computing power and memory). In addition, a theoretical analysis of the proposed ES-PID control scheme in terms of stability and convergence is also presented. Performance evaluation of the proposed ES-PID controller using both simulations and hardware experiments are presented. The results clearly illustrate the ability of the controller to track speed set-point and reduce torque ripples in the presence of load-torque variations.