2020 5th International Conference on Electromechanical Control Technology and Transportation (ICECTT)
Research on PMSM Vector Control of Fuel Cell
Vehicle Based on Fuzzy PID
Zhengyang Guo*
School of Automation, Wuhan University of Technology
Foshan Xianhu Laboratory of the Advanced Energy Science
and Technology Guangdong Laboratory, Xianhu hydrogen
Valley, Foshan 528200, P.R. China
Wuhan, China
E-mail: guozhengyang001@163.com
Abstract—There are still many deficiencies in the development of
the fuel cell vehicle industry. The key to determine the
performance of fuel cell vehicles is the vehicle motor drive system
and its control strategy. In this paper, the space vector pulse
width modulation control strategy of PMSM (permanent magnet
synchronous machine) for fuel cell vehicles is briefly described,
and both the speed loop and the current loop are designed using a
fuzzy PID controller control system. This control system is
modeled and simulated by Matlab/Simulink. The results show
that the control requirements of the PMSM for fuel cell vehicles
are satisfied by the designed control system and it has good
performance.
Keywords-permanent magnet synchronous motor; fuzzy PID
controller; vector control; modeling and simulation
I. INTRODUCTION
With the development of society, the use of cars is
becoming more and more popular. The prospect of fuel cell
vehicles is generally optimistic because its zero-emissions and
pollution is avoided while meeting the needs of life. Fuel cell
vehicle is mainly composed of five parts: battery pack,
actuation system, motor control system, charging system and
vehicle control system [1]. Permanent magnet synchronous
motor is mainly used by fuel cell vehicles in China due to the
advantages of high power efficiency and power factor, small
size, light weight, and large output torque. The motor output is
adjusted through the motor control system. A good
performance vehicle motor drive control system is the key to
fuel cell vehicle speed regulation. Therefore, a motor drive
Jing Chen and Chun Xiao
Foshan Xianhu Laboratory of the Advanced Energy Science
and Technology Guangdong Laboratory, Xianhu hydrogen
Valley, Foshan 528200, P.R. China
School of Automation, Wuhan University of Technology
Wuhan, China
E-mail: jingchen680@163.com
Aiming at the shortage of conventional PID control on
motor control, the combination of vector control strategy and
decoupling control strategy based on id* 0 is proposed in
this paper. Using fuzzy PID control method, a speed-current
double closed loop fuzzy PID control system is designed [2].
According to the change of the load of the PMSM in the actual
operation of the fuel cell vehicle, the system parameters is
automatically adjusted and the control rules are perfected.
II. PRINCIPLE AND STRUCTURE OF PMSM VECTOR CONTROL
SYSTEM
A. Vector control principle
The coordinate transformation based on the rotating dq axis
is the basis of vector control [3]. Coordinate transformation of
mathematical model of PMSM, the stator current is
decomposed into the excitating current component and the
torque current component to achieve complete decoupling and
good dynamic characteristics can be obtained. Generally, the
vector control process can be divided into the following steps:
1) The measured three-phase stator current ia , ib , ic
undergoes Clark transformation and Park transformation, and
is transformed from a three-phase stationary coordinate system
to a two-phase rotating coordinate system iq , id .
The transformation relationship from 3s / 2s is:
ª 1 1 º
1   ªia º
system with good performance becomes increasingly  ªiD º 2« 2 2 »« »  
important. «i » « » ib
¬E¼ 3« 3 3» « »
«¬0 2  ¬« ic ¼»
At present, domestic and foreign scholars have done a lot of 2 »¼
research on the problems of poor anti-interference ability of
vehicle drive motors, slow response speed of control system The transformation relationship from 2s / 2r is:
and poor control accuracy. System response speed is improved
based on direct torque control at low speed, but the torque ªid º ª cos T sin T º ªiD º 
fluctuation is large; complex automotive operating conditions  «i » «  sin T « » 
¬q¼ ¬ cos T »¼ ¬iE ¼
cannot be fully adapted based on common PI control methods,
and dynamic response, stability and other requirements cannot
be met; the PID control system optimized with particle swarm 2) The measured rotor angular velocity Zr is input into
optimization is difficult to solve the discrete optimization the comparator and compared with the reference angular
problem.
velocity Zr* , and the q-axis reference current iq* is generated
Major Open Fund Projects from Foshan Xianhu Laboratory of the Advanced
Energy Science and Technology Guangdong Laboratory (XHD2020-003).

978-1-7281-9928-3/20/$31.00 ©2020 IEEE 399

DOI 10.1109/ICECTT50890.2020.00093

Authorized licensed use limited to: AMRITA VISHWA VIDYAPEETHAM AMRITA SCHOOL OF ENGINEERING. Downloaded on June 02,2021 at 01:46:07 UTC from IEEE Xplore. Restrictions apply.
 by the fuzzy PID controller; Taking the d-axis reference
current id* =0 , the dq-axis current id and iq is compared
* *
with the reference current i and i , and converted into a
d q
voltage ud and uq via a fuzzy PID controller.
3) Combine the generated voltage ud , uq and the rotor
angular position detected by the position module, perform
anti-Park transformation to obtain the uD , u E signal.
The transformation relationship from 2r / 2s is:
4) The uD , u E signal is used to generate a pulse width
modulation signal through SVPWM, and then a current signal
with adjustable amplitude and frequency is output to perform
vector control of PMSM.
B. Structure of vector control System of PMSM
The vector control structure of PMSM is shown in figure 1.
This method is simple to implement and more accurate to
adjust. It uses a speed-current double closed-loop system based
on id* =0 control. Both the current loop and the speed loop use
fuzzy self-tuning PID controllers.


ªuD º ªcos T  sin T º ªud º
«u » « sin T « » 
¬ E¼ ¬ cos T »¼ ¬uq ¼

+ d-axis
+ speed - curren anti-P IGBT
+ q-axis SVP
- fuzzy k
- curre

Park Clar

speed PMS

Figure 1. Vector control structure of PMSM

From Figure 1, the PMSM vector control system designed
this time is divided into the following major functional sections:
fuzzy PID controller for speed loop and current loop;
Coordinate transformation module; speed and position
measurement module; SVPWM function module; rectifier
inverter module.
de are obtained, and input it into the self-tuning fuzzy PID
dt
controller. Through fuzzy inference and defuzzification,, the
controller parameter adjustment amount K P ǃ K I ǃ K D
can be obtained. After the calculation of Equation (4), can get
the parameters after setting.

III. PARAMETER SELF-TUNING FUZZY PID CONTROLLER ­ KP K P0  K P

 °
Traditional PID controller does not have the function of ® KI KI 0  KI  
real-time adjustment of parameters and cannot cope with °K
¯ D K D0  K D
complex conditions of the fuel cell vehicle drive motor
demanded. The fuzzy PID controller is divided into two parts, a
PID controller with adjustable parameters and a fuzzy control By continuously acquiring the measured rotational speed to
system [4]. This paper uses adaptive fuzzy PID control, take the continuously obtain the input error e and the error rate de , and
dt
speed loop as an example, set the initial value of the parameter real-time online adjustment of the control parameters, the
K P 0 , K I 0 , K D 0 . By comparing the given speed with the system's adaptive control can be achieved. The structure of
real-time measured speed, the input error e and the error rate fuzzy PID controller is shown in Figure 2.
fuzzy defuzzification
fuzzification
inference

given input output

e  fuzzy PID controlled
_ controller object
+

Figure 2. Structure of fuzzy PID controller

400

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 By selecting a suitable quantization factor, the input error e PM PS ZO NS NM NM NM NB
and the input error rate de between the given speed and the PB ZO ZO NM NM NM NB NB
dt
actual speed can be converted into the domain of the input TABLE II. K I RULE TABLE
variable through the quantization factor [5]. Then, transformed it
into the input domain of fuzzy controller by the corresponding NB NM NS ZO PS PM PB
degree of membership function. The fuzzy set is set to {NB, NB NB NB NM NM NS ZO ZO
NM, NS, ZO, PS, PM, PB}. NM NB NB NM NS NS ZO ZO
NS NB NM NS NS ZO PS PS
For different input error absolute value e and input error
ZO NM NM NS ZO PS PM PM
rate absolute value de , the PID controller has the PS NM NS ZO PS PS PM PB
dt
PM ZO ZO PS PS PM PB PB
following setting principles in the parameter self-setting
PB ZO ZO PS PM PM PB PB
process:
x When e is larger, the larger K P and K D can make TABLE III. K D RULE TABLE
the system have better tracking performance; NB NM NS ZO PS PM PB
Meanwhile, taking K I as 0 can avoid large
NB PS NS NB NB NB NM PS
overshoot of the system. NM PS NS NB NM NM NS ZO
x When e is moderate, a small K P can avoid system NS ZO NS NM NM NS NS ZO

overshoot; K D and K I is moderate. ZO ZO NS NS NS NS NS ZO

PS ZO ZO ZO ZO ZO ZO ZO
x When e is small, larger K P and K I can enhance PM PB NS PS PS PS PS PB
the stability of the system; K D should be based on the PB PB PM PM PM PS PS PB
error rate de , which is generally moderate.
dt IV. MODELING AND SIMULATION OF PMSM VECTOR CONTROL
Tables of the fuzzy control rules established based on the SYSTEM
above principles are shown in Table 1 to Table 3. A. Control system modeling
TABLE I.
To verify the design of fuel cell vehicle PMSM fuzzy PID
K P RULE TABLE
vector control system has good dynamic and static qualities.
NB NM NS ZO PS PM PB Combined with the fuzzy PID model, the Matlab/Simulink
NB PB PB PM PM PS ZO ZO simulation model of this system was established. This model
NM PB PB PM PS PS ZO NS uses the idea of modular simulation to divide the control
NS PM PM PM PS ZO NS NS system into modules to build a simulation model [6]. The
ZO PM PM PS ZO NS NM NM simulation model of PMSM vector control system is shown in
PS PS PS ZO NS NS NM NM
Figure 3.

Figure 3. Simulation model of PMSM vector control system

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 B. Set simulation parameters
To ensure that rationality and accuracy of this simulation,
using the parameters of a fuel cell vehicle permanent magnet
synchronous motor. Set as: stator winding resistance
Rs 2.365: ; dq-axis inductance Lq Lp 15mH ; damping
factor is 0.0002; moment of inertia of motor rotor
J =0.005kg m2 ; pole number is 4; rotor flux \ f 0.175Wb .
To better verify the fuzzy PID control algorithm, set the
parameters of the current loop PID controller to K P 100 ,
K I 20 , K D 0 , and set the parameters of the speed loop
PID controller to K P 80 , K I 20 , K D 0.04 . This
simulation set the system to start with no load and suddenly
increase the load 10 kNgm at 0.15s. In this case, observe the
dynamic and static qualities of the control system. The waves
of rotate speed, torque and three-phase stator current shown in
Figure 4 to Figure 6.
torque/(Ngm)
Figure 4. Output torque curve
rotate speed/(rad/s)
Figure 5. Output rotate speed curve

current/A
Figure 6. Output three-phase stator current curve
It can be seen from each waveform: after the motor is
started, the torque fluctuates from 0 to 0.08s and quickly
reaches a steady state; the motor rotate speed tends to be stable
around 0.08s, reaching the preset value; Three-phase stator
current also tends to stabilize. When the motor load is changed
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at 0.15s, the torque and three-phase stator current can also
respond quickly to reach a new steady state, while the speed
remains constant. The simulation results show that the vector
control system of PMSM based on fuzzy PID has good control
performance, can respond quickly, maintain stability and have
small overshoot.
V. CONCLUSION
This paper analyzes the vector control strategy of fuel cell
vehicle PMSM based on fuzzy PID. The use of fuzzy PID
controller at two places of rotate speed loop and current loop
ensures that the drive motor for fuel cell vehicles can operate
safely and steadily under various complicated working
conditions and guarantee the control accuracy. Combined with
fuzzy PID, the simulation model of PMSM vector control is
established. Simulation results show that the fuzzy PID-based
fuel cell vehicle PMSM vector control strategy has the
advantages of fast response speed, small overshoot, strong
stability, and better robustness. For the need to deal with
complex automotive driving conditions, fuzzy PID controller
can better satisfy the permanent magnet synchronous motor
response speed and control accuracy demand.
ACKNOWLEDGMENT
This work was supported by Major Open Fund Projects
from Foshan Xianhu Laboratory of the Advanced Energy
Science and Technology Guangdong Laboratory
(XHD2020-003).
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