Fuzzy PID Control of Electric Vehicle Charging and

Discharging System
Jianwei Li (  [email protected] )
Zibo Vocational Institute https://orcid.org/0009-0008-7452-7899

Research Article

Keywords: electric vehicle, battery, discharge control, fuzzy rules

Posted Date: May 31st, 2023

DOI: https://doi.org/10.21203/rs.3.rs-2917929/v1

License:   This work is licensed under a Creative Commons Attribution 4.0 International License.
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 Fuzzy PID Control of Electric Vehicle Charging and Discharging System

Jianwei Li
Zibo Vocational Institute,Zibo, Shandong,255314,China
E-mail：[email protected]

Abstract: The speed regulation and stability control performance, mileage and battery life of
new energy vehicles have an important impact on the development of electric vehicles. In order to
analyze the impact of different discharge control strategies on the speed regulation, battery output
voltage and capacity of electric vehicles, the battery discharge model is built by using MATLAB
software. By simulating the starting, speed regulation and load changes of electric vehicles, it
corresponds to three situations: constant speed starting, sudden change of speed during operation
and sudden load, The traditional proportional integral differential controller (PID) and fuzzy PID
control strategies are used to simulate and analyze the battery discharge. The results show that the
control effect and accuracy of fuzzy PID controller on motor speed, speed regulation response
speed and voltage output are better than those of traditional PID controller, which verifies the
rationality and stability of the proposed fuzzy PID vector control.
Keywords: electric vehicle; battery; discharge control; fuzzy rules

1 Introduction
In recent years, green new energy vehicles have gradually attracted the attention of car buyers,
but most consumers are still worried about the range of electric vehicles and related speed
regulation stability. Relevant research shows that the controller between the battery and the motor
has a great impact on the driving performance of the vehicle and the stability of battery discharge
control[1,2]. Therefore, the research on the discharge control method of electric vehicle is of great
significance to the driving stability, battery capacity and mileage of electric vehicle. Literature [3]
adopts the control method of space vector pulse width modulation (SVPMW) for the motor
control of electric vehicle. Its simulation shows that this method has good control stability. In
reference [4], aiming at the problem of DC motor with load operation performance of electric
vehicle, an improved generalized predictive control algorithm is proposed. The simulation results
show that the algorithm has the advantages of high control accuracy and strong anti load
interference ability. In reference [5], a combined SVPMW modulation algorithm is proposed to
reduce the switching device loss and low efficiency of electric vehicle inverter. The algorithm has
high torque control accuracy and improves the switching device loss of inverter. Reference [6]
proposes a field weakening control method based on voltage feedback, which is applied to the
speed regulation control of built-in permanent magnet synchronous motor of electric vehicle. The
saturation condition of current regulator is judged according to the PWM modulation of inverter,
and the d-axis current command is automatically recalculated to keep it away from voltage
saturation. In fact, it is verified that this method has good controllability at any speed. Reference
[7] in order to make the actual electric vehicle speed better adapt to the demand speed of any
working condition, the proportional integral controller (PI) of backward propagation algorithm
fuzzy neural network is designed to improve the deficiency of traditional proportional integral
control in motor control. Document [8] considers the user factors, the comprehensive indicators of
operators and the power limit of the power grid, selects the electric vehicles involved in reverse
power supply, realizes the peak shaving and frequency modulation function of the power grid and
reduces the charging cost of users. Document [9] analyzes the impact of electric vehicle as a
mobile energy storage unit connected to the power grid on its power quality, load balance, power
grid frequency modulation and so on. It can be seen that researchers have done a lot of research on
the stability, anti load interference and control accuracy of electric vehicle discharge control.
Whether the electric vehicle can adapt to the changes of load and vehicle conditions, output the
current demand of corresponding speed smoothly and quickly, and output stable voltage, the key
lies in the accuracy of battery discharge control of electric vehicle. In addition, as a mobile energy
storage unit, electric vehicles can conduct back discharge to the power grid, I and the stability of
their output voltage also has a great impact on the power supply reliability and voltage quality of
the power grid.
In this paper, the influence of electric vehicle discharge control method on battery capacity
and voltage output stability is studied and analyzed[10-13]. In order to adapt to the traditional
proportional PID control, the fuzzy integral differential controller is used to set the parameters of
the traditional electric vehicle. In order to better control the AC motor, the three-phase AC motor
control is transformed into a similar DC motor control mode through vector control. The validity
and feasibility of the model are verified by MATLAB modeling and simulation.
2 Overall Structure of Electric Vehicle Discharge Control System

Figure 1 Electric vehicle discharge control model

The electric vehicle discharge control system realizes the motor speed control by controlling
the change of current. Figure 1 shows the discharge control model of electric vehicle. In the model,
the traditional vector control mode with id = 0 is adopted. The fuzzy rules are added to the
traditional PID control in the speed loop to change the preset mode of integral, differential and
proportional parameters of the traditional PID. The improved fuzzy PID control realizes nonlinear
control. The speed input of the given motor model is transformed into the electrical signal input to
the fuzzy controller for setting, and then the corresponding proportional, integral and differential
link parameter values are output to the PID controller for calculation. After calculation, the
accurate speed control signal value is obtained, and then it is transformed from the two-phase
rotating coordinate system to the two-phase static rectangular coordinate system through vector
transformation, i.e. setting transformation, and controlled by SVPMW algorithm and inverter, The
control of permanent magnet synchronous motor is converted into speed control similar to DC
motor. The SVPMW signal is output after space vector pulse width modulation to drive the
inverter. The alternating current drives the motor after inverter inversion. The motor is connected
with a sensor to detect its output h-phase voltage, speed, mechanical angular speed torque, etc.
after the motor runs, the sensor will transform the detected three-phase electric voltage, speed,
mechanical angular speed torque and other parameters to the synchronous rotation coordinate
system through coordinate transformation again, and feed back the rotation speed input terminal,
Form a closed-loop control.
3 Electric Vehicle Discharge Control Strategy
3.1 PID control
PID control is a control algorithm composed of proportional, integral and differential
terms[14-16]. It is easy to set parameters and get good response effect. Its principle block diagram
is shown in Figure 2.

Figure 2 Block diagram of traditional PID control principle

The control equations of proportional, integral and differential terms of PID controller are:
de(t )
u(t ) = k p e(t ) + ki  e(t )dt + kd
t
(1)
0 dt
In which, k p is the proportional coefficient and k i is the integral coefficient; k d is the

differential coefficient; The output error equation is:

e(t ) = ri (t ) − yo (t ) (2)

Given a reasonable setting of proportional, integral and differential parameters, the PID
controller integrates according to the output variance formula to make it reach the minimum value
to improve the output accuracy of the system. Because the output variance evaluation function of
PID is a linear equation, there will be many nonlinear control process changes in the actual driving
of new energy vehicles[15-18]. The traditional PID presents the problems of poor self adaptability
and low control accuracy.
3.2 Fuzzy PID control
3.2.1 Fuzzy PID control principle
The principle of PID controller is simple, and the motor control can be realized by setting
reasonable differential, integral and proportional parameters. Electric vehicles have higher
requirements for speed control accuracy during driving. Therefore, the traditional PID controller is
used in electric vehicles.
 The application of speed control has some limitations. Therefore, it is considered to apply
fuzzy rules to PID controller to realize PID fuzzy control, i.e. nonlinear control. Using the
reasoning and judgment characteristics of fuzzy rules, the parameters of PM controller are
self-tuning under different deviations, so as to improve the limitation of linear change of
parameters in the process of traditional PID control and achieve more accurate control accuracy.
Its principle is shown in Fig. 3. After the input of the given speed is adjusted, through fuzzy
module fuzzification, fuzzy rule reasoning and defuzzification, the set n-knowledge three
parameters are output for calculation by the PID controller[19-21], which is output to the
controlled object, and then fed back to the input for adjustment to form a closed-loop feedback.

Figure 3 Principle block diagram of fuzzy PID controller

3.2.2 Energy storage control unit design
The energy storage unit is connected to the DC bus through a bidirectional DC/DC converter.
As shown Fig. 4 shows the structure of the bidirectional DC/DC converter, where Ubat is the
terminal voltage of the energy storage battery; L is the storage side inductor; I o is the current
between the converter and the bus; and U dc is the bus side voltage.

D1
T1
Ibat Io
L +
Ubat +
T2 C Udc
- D2
-
Figure 4 Bidirectional DC/DC converter structure

The bidirectional DC/DC converter has a dual function of Buck mode and Boost mode.
When T2 tube is working and T1 tube is off, the bidirectional DC/DC converter is in Boost mode
and the energy storage battery is in the discharged state. At this time, using the inductor current
Ibat and capacitor voltage U dc as state variables, the state equation can be obtained by using the
average state method as follows:
dIbat
L = U bat − (1 − D)U dc (3)
dt
dUdc U
C = (1 − D) I bat − dc (4)
dt R
In turn, the expression for the duty cycle D is derived as:
D = ((K p + Ki s)(I batref − I bat ) + U dc − Ubat ) U dc (5)
Similarly, when the circuit works in Buck state, T1 tube works and T2 tube is turned off, the
control equation of the current loop in Buck state can be introduced as follows:
 D = ((K p + Ki s)(Ibatref − Ibat ) + Ubat ) U dc (6)

3.2.3 Design of fuzzy PID controller

The fuzzy controller consists of fuzzification, fuzzy rules, fuzzy reasoning and
defuzzification. Fuzzification is to transform the input variables of fuzzy controller into the
variable format that can be interpreted by fuzzy rule reasoning, that is, the input accurate quantity
is transformed into fuzzy quantity. Fuzzy reasoning is to infer the current suitable output
according to the formulated fuzzy rules[22-24]. Defuzzification is the process of converting the
output fuzzy quantity into an accurate quantity.
3.2.4 Select the input and output quantity and its number
The input variables of fuzzy controller are error e and error change rate ec, and the output

k p , ki and k d are the parameters change of PID controller. The quantitative universe of
input variables and output variables are [-3,3]. Seven fuzzy subsets are taken, and the
corresponding fuzzy language set is {NB;NM;NS;ZO;PS;PM;PB}, the triangular membership
function is selected as the membership function, and the center of gravity method is selected as the
defuzzification method.
3.2.5 Establishment of fuzzy rules
Fuzzy rule is one of the cores of fuzzy controller. The control rules of general fuzzy
controller can be summarized as quickly eliminating errors while ensuring the stability of the
system. according to the arrangement and combination relationship between the seven fuzzy
subsets, 49 rules can be obtained. The fuzzy rule table is shown in Table 1.
Table 1 Fuzzy Rules

3.2.6 Generating fuzzy controller

The design flow of fuzzy controller based on matlab fuzzy toolbox. In the fuzzy toolbox of
MATLAB, the fuzzy controller is designed step by step. Finally, the fuzzy PID controller is
obtained, saved as a fis file and input for using.
4 Simulation Analysis
The discharge control model of electric vehicle is established through Simulink to simulate
the operation process of electric vehicle, analyze the control accuracy and stability of different
controllers on speed, and observe their impact on battery capacity and voltage. The values of
simulation parameters are: the battery voltage and capacity are 360 V and 100 Ah respectively;
The parameters of the motor are set as stator resistance 0.012Ω, the stator inductance of D axis
and Q axis are 0.0017mH and 0.002mH respectively; the flux linkage value is 0.078Wb; the
number of rotor poles is 4; the moment of inertia is 0.0009 kg·m2; the friction coefficient is
9.444×10-5 N·s/m;The parameters are set as proportional parameter 0.58 and integral parameter 5,
The differential parameter is 0.0018, and the fuzzy rules refer to table 1.
4.1 Speed regulation of electric vehicle during starting
As shown in Fig. 5 shows the speed regulation diagram of the traditional and fuzzy PID
controller when the motor is started. When the traditional PID controller is adopted, there is an
obvious overshoot when the motor is started, while the fuzzy PID controller is more stable for
speed control and has no obvious overshoot, so the regulation of the fuzzy PID controller is more
accurate.

Figure 5 Speed regulation diagram of traditional PID controller and fuzzy PID controller during
motor starting
4.2 Sudden change of speed during operation of electric vehicle
During the operation of the electric vehicle, the speed changes frequently. In order to analyze
the large-scale adjustment ability of the controller to the speed when the speed of the motor
changes suddenly during the operation, the initial value of the motor speed is set to 3000r / min,
and the speed changes suddenly to -3000r/min after 0.5s. The simulation results are shown in Fig.
6.
As shown in Fig. 6 that when the electric vehicle adopts the traditional PID controller, the
overshoot still exists when the motor starts to 3000r/min, while the overshoot of the fuzzy HD
controller is almost zero and relatively stable when the speed reaches 3000r/min; When the speed
of 0.5s suddenly changes, the overshoot of the traditional PID controller is very large, and its
duration reaches more than 0.05s before it returns to stability. However, the overshoot of the fuzzy
PID controller is very small, and the instantaneous regulation reaches the required speed. The
simulation results show that the anti disturbance ability and control accuracy of the fuzzy PID
controller are better than those of the traditional PID controller.

Figure 6 Speed regulation diagram of traditional PID controller and fuzzy PID controller when
speed sudden changing
4.3 Sudden load during electric vehicle operation
 The main key component of the electric vehicle is the battery. The battery life depends on the
SOC of the battery and the battery discharge control means. In order to observe the effect of the
two controllers on the influence of the battery voltage and battery SOC, the constant speed of the
motor is set as 1000r / min, and the load of 10Nm is suddenly added at 0.5s.
4.3.1 Impact of sudden load on speed regulation

Figure 7 Speed regulation diagram of traditional PID controller and fuzzy PID controller under
sudden load
Figure 7 is the speed regulation diagram of traditional and fuzzy PID controller when sudden
load is applied. Because the traditional PID controller is linear control, 10 Nm is suddenly added
when the motor speed is 0.5s. when m load is applied, it decreases from 1000 r/min to about 650
r/min, and it recovers to 1000r/min after 0.1s; The fuzzy PID controller is a nonlinear control, and
the speed has only a small decrease, and it will return to the normal speed around 0.03s. The
comparison shows that the speed adjustment time of traditional PID is longer than that of fuzzy
PID, which shows that the adjustment speed of fuzzy PhD control is faster than that of traditional
PID.
4.3.2 Impact of sudden load on voltage output
The voltage output of traditional and fuzzy PID controllers when the motor load is suddenly
applied for 0.5s. The output voltage of traditional PID controller decreases faster than that of fuzzy
PID controller, and the amplitude fluctuates greatly. The large voltage fluctuation is the
manifestation of unstable discharge. The comparison shows that the fuzzy PID controller is more
stable in battery discharge control than the traditional PID controller, and the battery discharge
control is more accurate, which can avoid the problems of frequent voltage output fluctuation
caused by load change and affecting the service life of battery.
4.3.3 Impact of sudden load on battery SOC
Figure 8 shows the battery SOC of traditional PID controller and fuzzy PID controller when
the motor load is suddenly applied for 0.5s. When the load on the battery increases, the battery
SOC of traditional PID controller decreases by 0.45%, while that of fuzzy PID controller
decreases by only 0.07%. Therefore, the change speed of battery SOC using traditional PID
controller is greater than that of fuzzy PID controller. Battery SOC reflects the remaining power of
the battery. Therefore, it can be seen that the fuzzy PID controller controls the discharge of the
battery better than the traditional PID control, which can reduce the power loss of the battery and
cause less damage to the battery.
Figure 8 Battery SOC of traditional PID controller and fuzzy PID controller under sudden load
5 Conclusion
Based on the Simulink simulation environment, this paper establishes the simulation
mathematical models of traditional and fuzzy PID vector control respectively, and makes
simulation analysis on three cases: motor constant speed starting operation, motor speed mutation
and motor sudden load. The simulation results can show that the fuzzy PID controller is superior
to the traditional PID controller in speed control accuracy, control stability and response speed.
The speed control stability and regulation response speed of the motor have a great impact on the
SOC of the battery. In the process of driving, the vehicle conditions encountered by the electric
vehicle are very complex. Effective control methods have certain advantages in reducing the
impact of the battery and improving the endurance of the electric vehicle. The purpose of EV
charging and discharging power control based on Fuzzy PID is to reduce the peak load, peak
valley difference and network loss of power grid, meet the driving needs of vehicle owners and
reduce their charging cost. However, in the design process of fuzzy logic controller, there is a
certain subjectivity in the selection of membership function and the determination of fuzzy rules.
Therefore, the next research of the author will focus on modifying the learning method of fuzzy
reasoning rules, the adjustment method of parameters, and the automatic optimization generation
method. In addition, EV owners will not actively cooperate with the control of the power grid
company. The power grid company needs to encourage EV users to participate in maintaining the
operation level of the distribution network with certain compensation. In the follow-up, we will
further study the compensation mechanism under the background of the power market and the
interaction mode of multiple entities of vehicle and network.

Compliance with Ethical Standards

There is no disclosure of potential conflicts of interest. Our research don’t involve any human
participants or animals. All authors have given informed consent to the content of this study.

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