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Controller Design for Electric Motor Derived Vehicle

Article in Indonesian Journal of Electrical Engineering and Informatics (IJEEI) · June 2018
DOI: 10.11591/ijeei.v6i2.282

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Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Vol. 6, No. 2, June 2018, pp. 125~131
ISSN: 2089-3272, DOI: 10.11591/ijeei.v6i2.282  125

Controller Design for Electric Motor Derived Vehicle

Nitin Kumar Saxena, Sirak Gebrehiwot, Degu Mena

Wolaita Sodo University, Ethiopia

Article Info ABSTRACT

Article history: In this paper, proportional and integral based controller is designed for
controlling the output voltage of battery. This battery is used for operating an
Received Mar 17, 2017 electric motor derived vehicle. It has been represented that without any
Revised Mar 26, 2018 control mechanism the output voltage cannot be controlled and it will give a
Accepted Apr 25, 2018 large deviation in output voltage in terms of error signal and that will decline
the battery output current as a result battery power output will reduce and
therefore the performance of electric motor derive vehicle will go down in
Keyword: terms of power and torque to derive vehicle. So, it is mandatory to maintain
the output voltage of the battery and that can be achieved by a proper
DC permanent magnet motor feedback control system. A PI based controller is designed and implemented
Electric drive for this electric motor derived vehicle in the present paper. Paper
PID (proportional-integral) demonstrates how the results improve in presence of controller circuit for this
controller electric motor derived vehicle.
Copyright © 2018 Institute of Advanced Engineering and Science.
All rights reserved.

Corresponding Author:
Nitin Kumar Saxena,
Wolaita Sodo University, Ethiopia
Email: nitinsaxena.iitd@gmail.com

1. INTRODUCTION
The traditional methods available in literature depicts that the rotational speed of motors can be
popularly controlled by either controlling voltage or frequency or both by controlling V/f ratio. But, now
days, derive based application concept is becoming more popular for supervising the speed of rotation of an
electrical machine and therefore, any electrical machine can be precisely controlled by implementing the
driving system with machine. All the researches have been more or less focused towards the application of
environmental friendly renewable energy sources. These renewable energy sources can be used as primary
energy source for deriving the prime mover. Transportation from one place to another place requires a lagre
amount of energy that must be produced mainly from the different fossil fuels combustion for deriving the
different vehicles. Electric vehicle are becoming more popular now a days due to the rapid depletion of fossil
fuels, emission of enormous hazardous gases and continous inceresing fuel cost. The vehicles require energy
for operating them and so, any renewable enegy source can be used as primary input energy source to derive
the primemover first and then to derive the vehicle finally [1]. Derive systems have control systems in it that
helps to adjust the required output from the electric vehicle. So, these derives can easily controlled the
vehicle motion by adjusting the vehicle output through the optimization of control parameters and this is the
main advantage of developing derive based vehicle. The simple definition for electric vehicles is that the
system which controls the output charactesistics of any electrical machine is known as electrical drive. A
Russian B. S. Akobi was the first who presented the electric derive for the world first time in 1838 before
many years of industrial revolution that happens in 1870. In his initial tesing, he developed a storage battery
operated DC electric motor to propel a boat. Presently, electric drives are being used widely in almost all
types of large medium and even small scale industrial applications.
Electric derives are the assembly of one or more electric motors with control panels, the control
panels get the signal through feedback and control the rotation of shaft of the motor. Basically electric drives
works as prime movers for diesel engines, petrol enginers, gas turbines, steam turbines, hydraulic and electric
motors. The use of advance control methods developes smoother, reliable, secure and fast control actions of

Journal homepage: http://section.iaesonline.com/index.php/IJEEI/index

126  ISSN: 2089-3272

these derives now days. So, the controlling techniques used with derive system should be more accurate and
easy to acceptable. Along with industrial applications derives are also being used for domestic applications.
Some commonly used domestic applications for these derive system are factories, transportation systems,
textile mills, fans, pumps, motors, robots etc.
In this paper, a controller is designed for an electric vehicle. This electric vehicle is operated with
the help of permanent magnet DC motor. A controller circuit is required in the system; this controller circuit
generates commands through which input is produced for premannet magnet DC motor so that output
characteristics of this DC motor (output power, shaft speed and torque on shaft) can be adjusted as per the
requirement. A popular and fundamental controller that has been implemented in any system is proportional–
integral (PI) controller [2]. In this PI controller, the proportional gain constant K P and integral gain constant
KI are adjusted for obtaining the desired results. The fundamental modelling for ideal PI controller is well
explained and established in refs. [3] and [4] and the same is being used in this paper. The advance control
methods are not incoperated in this present work but will be applied by the authors in their future research
works and therefore, the advanced methods porposed in ref. [3] and [4] will be implemented for the same
electric motor vehicle as discussed in this paper for authors’ future research work. If the primary supply
source for operating this permanent magnet DC motor is any kind of renewanle energy source such as
photovoltaic operated electric vehicles, a supplement supply source is also required to improve the reliability
of this electric vehicle. An electric battery is most preferable supplement supply source for these electric
derive vehicles [5]. In present study, a simulink model is developed with fundamental PI controller technique
and results are identified and investigated in terms of vehicle output power and efficiency for given torque
and speed values as in ref. [6]. Mathematical expressions are presented and on their basis simulink models
are designed for individual complements used in electric vehcilefirst and then a combined simulink
diafgaram is developed haaving all the dpsecified compenets of this electric vehicle as in ref. [7]. All the
simulink models are developed and assembeled in MATLAB software. This electric vehicle model developed
in MATLAB simulink window is basically designed to elaborate the performance and energy flow in it but
the study can be extended for energy conversion based studies in motoring and regenerative action modes of
motor used in electric vehicle [8].

2. MATHEMATICAL MODELLING FOR ELECTRIC MOTOR VEHICLE

In this section, complete mathematics for electric motor vehicle is explained in details as in ref. [9].
The different important sections of this vehicle are being discussed separately in their respective subsections
one by one for better understanding about the each component. The simulink models of respective
components are also demonstrated in each section.

2.1. Development of Power Model for Electric Vehicle

Power output of the motor 𝑃𝐻 which is deriving this electric vehicle depends on torque 𝑇𝑟𝑞
developed and rotor speed 𝜔𝑟 of the motor [10]. So, mathematically, power developed by the motor can be
represented by Equation 1. The model is shown in the Figure 1.

𝑃𝐻 = 𝑇𝑟𝑞 × 𝜔𝑟 (1)

Figure 1. Model for developed power

2.2. Motor Model for Electric Drive

The model shows the Working of the motor by using the values of Torque & Speed with the help of
Motor resistance and inductance. Developed Voltage, current and Power [11], [12] is determined by the
following Equations 2 to 5.

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IJEEI ISSN: 2089-3272  127

𝑑𝑖(𝑡)
𝑉𝐻 = 𝐼𝑅 𝑎 + 𝐿 + 𝐸𝑎 (2)
𝑑𝑡

𝑇𝑟𝑞
𝐼𝐻 = (3)
𝐾𝑚

𝑃𝐻 = 𝑉𝐻 𝐼𝐻 (4)

𝐸𝑎 = 𝜔𝑟 𝐾𝑚 (5)

The Motor model is shown in the Figure 2

Figure 2. Motor model circuit

2.3. Motor Controller Model for Electric Drive

This Model shows the working of Motor controller of the electric drive by using the Values of V H,
IH and constant 𝐾𝑣𝑎𝑙 . The values of VL and IL are determined by the Equations 6 and 7 as in ref. [13], [14].

𝑉𝐻
𝑉𝐿 = (6)
𝐾𝑣𝑎𝑙

𝐼𝐿 = 𝐾𝑣𝑎𝑙 𝐼𝐻 (7)

2.4. Battery Model

In battery model, the value of the Battery error has calculated by the difference of actual voltage and
the calculated voltage as is shown in Equation 8 [15]. Figure 3 shows motor controller model block. The
battery model is shown in the Figure 4.

𝐵𝐸𝑅𝑅 = 𝐸𝐵 (𝐴𝑐𝑡𝑢𝑎𝑙) − 𝐸𝐵 (𝐶𝑎𝑙𝑐𝑢𝑙𝑎𝑡𝑒𝑑) (8)

Figure 3. Motor controller model block Figure 4. Battery model block

Controller Design for Electric Motor Derived Vehicle... (Nitin Kumar Saxena)
128  ISSN: 2089-3272

Therefore, a complete simulation model by combining the all components described above in
different subsections such as power model, motor model, motor controller model and battery model is shown
in Figure 5. Ref. [16] gives basic idea to design and develop simulink model. The model shown in Figure 5 is
an open loop model for motor derived vehicle as battery error i.e. the variation in output voltage form
standard voltage is taken as output. To control the battery output voltage, a proportional and integral
controller is represented in Figure 6 and this PI controller is implemented with system as shown in Figure 7.
The error voltage signal 𝐵𝐸𝑅𝑅 is used as disturbance signal and gain constants for PI controller K P and KI as
shown in Figure 6 are used as control variables. The PI controller accepts the 𝐵𝐸𝑅𝑅 signal from the battery
model and use KP and KI to calculate gain 𝐾𝑣𝑎𝑙 that is used by the motor controller according to [17].

𝐾𝑣𝑎𝑙 = (𝑘𝑝 × 𝑠 × 𝑘𝑖) × 𝐵𝐸𝑅𝑅 (9)

Figure 5. Electric drive model without PI controller

Figure 6. PI Controller Model block

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IJEEI ISSN: 2089-3272  129

Figure 7. Electric drive motor with PI Controller

3. RESULTS AND DISCUSSIONS

In this paper, the results show the role of controller design for electric motor electric vehicle. The
fundamental model for vehicle having motor battery and controller is explained in this paper with the help of
mathematical expression and their corresponding simulink model. Results are shown in terms of graph for
variation of torque, variation of speed, variation of power, variation of voltage, variation of current, and
variation of power for battery motor and vehicle. Some results are discussed in this section.
The variations for road torque, road speed and power with respect to time is presented in the Figure
(8) to (9) respectively. Power developed in the motor as in given Equation 1 is a fubnction of the speed and
torque. The dc motor provides output power in the direction same as rotor direction if positive speed and
tirque values are taken for the case of normal motoring mode. However, dc motor starts working as a
generator i.e. its output power becomes negative when the motor torque iand speed both are in opposite
direction and this case is known as motor regenerating operation mode.

Figure 8. Representation for variation of vehicle Figure 9. Representation for variation of vehicle speed
torque with respect to time with respect to time

Figure 10 to 12 repersents the motor voltage, current and power with respect to time. The motor
draws power for the battery. Comparison between Figure 8 to 12 describes that the curves of motor voltage
and vehicle speed are following to each other. Similarly, the vehicle torque and motor current curves are also
following to each other. This means vehicle torque can be developed according to the requirement by
adjusting motor current and vehicle speed can be adjusted with the helop of motor volatge. Figure 13 presents
the power variation for motor which is evaluated using voltage and current values as in Figure 11 and 12.

Figure 10. Representation for variation of vehicle Figure 11. Representation for variatiion of Voltage
power with respect to time with respect to time

Controller Design for Electric Motor Derived Vehicle... (Nitin Kumar Saxena)
130  ISSN: 2089-3272

Figure 12. Representation for variation of current Figure 13. Representation for variation of power with
with respect to time respect to time

In normal operating condition, both current and voltage are positive, the dc motor provides torque in
the direction same as the direction of rotation and finally output power is supplied to the load. This is normal
motoring operation. However when motor current is opposite in respect to voltage then motor behaves as
generator and current flows back in to the battery. The battery voltage error is calculated with the help of
actual voltage and calculated voltage .The difference of the two provides the value of battery error voltage
that is denoted 𝐵𝐸𝑅𝑅 . The graph shows the variation of battery voltage error with respect to time in the Figure
14.
This difference BERR is used as control variable to get final disturbance variable of voltage by
adjusting KP (proportional) and K I (integral) gain constants for PI controller as state variables. The battery
model shown in the Figure 14 is followed to calculate the value of battery error voltage. The motor controller
gain K val has been determined by the output as shown in the PI controller model. The simulation result for
the value of the controller gain K val is presented in Figure 15. The controller gain is directly related the motor
speed i. increasing with increase and decreasing with decrease. The power gets improved by using the gain
controller.

Figure 14. Representation for variation of battery Figure 15. Representation for the value of controller
voltage error with respect to time gain K value

The initial starting value of gain is set as 0.1 theough preset setting in integral block (1/s block) of
the controller. This value is set in the simulation by opening up the 1/s block. Initial Condition on the
integration block sets to reduce the possibile simulation error for algebraic loop. A divide by zero operation
of algebra forms an algebraic loop when the simulation is trying to solve the set of linear equations.
By comparing the graph of the Figure 14 (Battery Error Voltage without PI Controller) and Figure
15 (Battery error Voltage with PI Controller), it can be concluded that the value of the error voltage gets
reduced by using a PI controller. This error correction signal is either in proportion or in integral relation to
the system. An error correction signal is provided by the Proportional – Integral Controller (PI). The
fundamental mechanism of the proportional signal is to redpond for system changes and of the integral signal
is to reduce steady sate (constant) errors in the system. The Kp and Ki controller constants are determined by
trial and error while observing the magnitude and response of the Berr signal.

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 IJEEI ISSN: 2089-3272  131

Figure 16. Comparison of the Battery error Voltage (B ERR) with and without PI Controller

4. CONCLUSION
The work carried out in this paper represents how proportional and integral based controller
designed for controlling the output voltage of battery improves the performance of electric motor vehicle. It
has also been demonstrated that without any control mechanism the output voltage cannot be controlled and
it will give a large deviation in output voltage in terms of error signal but a properly designed control
mechanism improves the battery performance and therefore vehicle can be operated with improved torque
and power. The future work may be done for selecting the gain constants for PI controller with the help of
advanced tuning methods.

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