In-Wheel Motor Control System for Four-Wheel Drive Electric Vehicle Based on CR-GWO-PID Control
<p>Structural diagram of a four-wheel drive in-wheel motor electric vehicle.</p> "> Figure 2
<p>In-wheel motor map.</p> "> Figure 3
<p>Vehicle model simulation diagram. (Green triangles indicate the changes in the number of in-wheel motors).</p> "> Figure 4
<p>The results of vehicle driving simulation: (<b>a</b>) EV battery change and (<b>b</b>) EV mileage.</p> "> Figure 5
<p>Comparison of key indicators of simulated driving under vehicle simulation road conditions: (<b>a</b>) Comparing the required EV driving speed with the actual EV driving speed; (<b>b</b>) Comparing the required motor torque of the EV with the actual motor torque of the EV.</p> "> Figure 6
<p>Algorithm population initialization comparison diagram: (<b>a</b>) and (<b>b</b>).</p> "> Figure 7
<p>Algorithm distance weight comparison diagram.</p> "> Figure 8
<p>Algorithm flowchart.</p> "> Figure 9
<p>Test function comparison results: (<b>a</b>) Test function <span class="html-italic">f</span><sub>1</sub>; (<b>b</b>) test function <span class="html-italic">f</span><sub>2</sub>; (<b>c</b>) test function <span class="html-italic">f</span><sub>3</sub>; (<b>d</b>) test function <span class="html-italic">f</span><sub>4</sub>; (<b>e</b>) test function <span class="html-italic">f</span><sub>5</sub>; and (<b>f</b>) test function <span class="html-italic">f</span><sub>6</sub>.</p> "> Figure 10
<p>CR-GWO-PID motor speed simulation flow diagram.</p> "> Figure 11
<p>Motor speed simulation curves under the four control strategies: (<b>a</b>) Target speed 600 rpm; (<b>b</b>) target speed 500 rpm; and (<b>c</b>) target speed 400 rpm. (The red arrow indicates magnification of the specified location.).</p> "> Figure 12
<p>Flowchart of the in-wheel motor test. (The solid line represents the process and the dashed line represents the constituent structure.).</p> "> Figure 13
<p>Images of the test bench, showing its layout.</p> "> Figure 14
<p>In Test Group 1, the Simulation curve diagram of motor speed under the four control strategies: (<b>a</b>) Target speed 400 rpm; (<b>b</b>) target speed 500 rpm; and (<b>c</b>) target speed 600 rpm.</p> "> Figure 15
<p>In Test Group 2, the Simulation curve diagram of motor speed under the four control strategies: (<b>a</b>) Target speed 400 rpm; (<b>b</b>) target speed 500 rpm; and (<b>c</b>) target speed 600 rpm.</p> "> Figure 16
<p>In Test Group 3, the Simulation curve diagram of motor speed under the four control strategies: (<b>a</b>) Target speed 400 rpm; (<b>b</b>) target speed 500 rpm; and (<b>c</b>) target speed 600 rpm.</p> ">
Abstract
:1. Introduction
2. Modeling and Simulation of Four-Wheel In-Wheel Motor Drive Electric Vehicles
2.1. Structure and Principle of Four-Wheel Drive In-Wheel Motor Electric Vehicles
2.2. Vehicle Modeling
2.3. Vehicle Model Simulation and Analysis
3. Research on Brushless DC Motor and Its Control Algorithm
3.1. Brushless DC Motor Model
3.2. Chaotic Random Grey Wolf Proportional Integral Differential (CR-GWO-PID) Control Algorithm
4. Bench Test of In-Wheel Motor Control System
4.1. Construction of Motor Test Bench
4.2. Test Results and Analysis
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Vehicle Parameters | Values |
---|---|
vehicle mass | 665 kg |
Length × width × height | 2920 mm × 1493 mm × 1621 mm |
Wheelbase | 1940 mm |
Wheel pitch | 1290 mm |
Minimum ground clearance | 125 mm |
Rolling damping coefficient | 0.015 |
Air drag coefficient | 0.35 |
Tire radius | 385 mm |
Area of the windward zone | 2.178 m2 |
Function | Dim | Range | |
---|---|---|---|
30 | [−30, 30] | 0 | |
30 | [−100, 100] | 0 | |
30 | [−1.28, 1.28] | 0 | |
30 | [−5.12, 5.12] | 0 | |
30 | [−600, 600] | 0 | |
30 | [−50, 50] | 0 |
Function | GWO | CR-GWO | ||
---|---|---|---|---|
AVG | STD | AVG | STD | |
1.2971927 | 0.623971 | 0.97100573 | 0.12340483 | |
5.83278437 | 0.402126723 | 5.034828256 | 0.320877835 | |
0.002948175 | 0.025320668 | 0.001975758 | 0.001219342 | |
1.0237778202 | 1.8486 × 10−10 | 0.623297658 | 1.70004 × 10−15 | |
1.388772273 | 1.347839087 | 0.935870771 | 0.163039133 | |
1.482505429 | 2.815509853 | 0.972366285 | 0.046705182 |
BLDC Motor Parameters | Values |
---|---|
BLDC Motor rating | 48 V, 2000 W |
Rated speed | 3000 rpm |
Rated torque | 6.4 N·m |
Moment of inertia | 14.6 × 10−4 kg·m2 |
Weight | 7 kg |
Torque constant | 0.123 N·m/A |
Armature resistance | 0.4605 Ω |
Armature inductance | 3.226 mH |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 0.0898 | 0 | 0.153 | \ |
PID | 0.0196 | 47.75 | 0.104 | 0.0231 |
GWO-PID | 0.0192 | 14.075 | 0.0539 | 0.0199 |
CR-GWO-PID | 0.0189 | 12.5 | 0.0521 | 0.019 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 0.0832 | 0 | 0.2153 | \ |
PID | 0.0195 | 53.10 | 0.0829 | 0.0293 |
GWO-PID | 0.019 | 17.68 | 0.2252 | 0.0191 |
CR-GWO-PID | 0.0193 | 10.40 | 0.06492 | 0.0192 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 0.0743 | 0 | 0.2736 | \ |
PID | 0.0195 | 53.23 | 0.1126 | 0.0362 |
GWO-PID | 0.0191 | 12.717 | 0.0712 | 0.0187 |
CR-GWO-PID | 0.0192 | 11.133 | 0.0548 | 0.0175 |
Algorithm | KP | KI | KD |
---|---|---|---|
GWO-PID | 1.035 | 0.3565 | 0.0029605 |
CR-GWO-PID | 1.01 | 0.38985 | 0.002655 |
Algorithm | KP | KI | KD |
---|---|---|---|
GWO-PID | 1.016 | 0.41862 | 0.00235 |
CR-GWO-PID | 1.105 | 0.41985 | 0.0029605 |
Algorithm | KP | KI | KD |
---|---|---|---|
GWO-PID | 1.308 | 0.3497 | 0.002089 |
CR-GWO-PID | 1.017 | 0.3565 | 0.0029605 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.25 | 0 | 2.45 | \ |
GWO-PID | 0.808 | 3.623 | 1.825 | 1.46 |
CR-GWO-PID | 0.794 | 3.775 | 1.57 | 0.98 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.22 | 0 | 2.15 | \ |
GWO-PID | 0.973 | 3.525 | 1.986 | 1.217 |
CR-GWO-PID | 0.897 | 3.429 | 1.495 | 0.996 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.08 | 0 | 1.98 | \ |
GWO-PID | 0.813 | 7.5 | 1.886 | 1.314 |
CR-GWO-PID | 0.819 | 4.723 | 1.685 | 1.209 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.25 | 0 | 2.45 | \ |
GWO-PID | 0.796 | 3.04 | 1.825 | 1.364 |
CR-GWO-PID | 0.802 | 3.09 | 1.57 | 1.08 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.22 | 0 | 2.15 | \ |
GWO-PID | 0.85 | 4.125 | 2.06 | 0.95 |
CR-GWO-PID | 0.75 | 4.529 | 1.49 | 0.97 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.08 | 0 | 1.98 | \ |
GWO-PID | 0.725 | 3.05 | 2.26 | 1.06 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.25 | 0 | 2.45 | \ |
GWO-PID | 0.807 | 4.043 | 2.025 | 1.289 |
CR-GWO-PID | 0.803 | 4.05 | 1.803 | 1.256 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.22 | 0 | 2.15 | \ |
GWO-PID | 0.736 | 4.125 | 1.832 | 0.98 |
CR-GWO-PID | 0.796 | 4.029 | 1.69 | 1.03 |
Algorithm | Rise Time (s) | Overshoot (%) | Settling Time (s) | Peak Time (s) |
---|---|---|---|---|
Open-loop | 1.08 | 0 | 1.98 | \ |
GWO-PID | 0.73 | 7.333 | 2.26 | 1.05 |
CR-GWO-PID | 0.79 | 3.167 | 1.509 | 1.02 |
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Xu, X.; Wang, M.; Xiao, P.; Ding, J.; Zhang, X. In-Wheel Motor Control System for Four-Wheel Drive Electric Vehicle Based on CR-GWO-PID Control. Sensors 2023, 23, 8311. https://doi.org/10.3390/s23198311
Xu X, Wang M, Xiao P, Ding J, Zhang X. In-Wheel Motor Control System for Four-Wheel Drive Electric Vehicle Based on CR-GWO-PID Control. Sensors. 2023; 23(19):8311. https://doi.org/10.3390/s23198311
Chicago/Turabian StyleXu, Xiaoguang, Miao Wang, Ping Xiao, Jiale Ding, and Xiaoyu Zhang. 2023. "In-Wheel Motor Control System for Four-Wheel Drive Electric Vehicle Based on CR-GWO-PID Control" Sensors 23, no. 19: 8311. https://doi.org/10.3390/s23198311