2 Fuzzy neural network controller design

2.1 system principle and structure

Based on the mathematical model of PMSM vector control and the requirement of motor control for the
electric vehicle, a PMSM vector controller with fuzzy neural network as current loop is designed in this
paper. The block diagram of the system is shown in Fig.1 .

The control system includes a speed loop and two current loops.

Because the motor control system of the electric vehicle needs to ensure that the output torque quickly
follows a given torque, a fuzzy neural network controller is added as a current regulator in the current
loop to ensure the current loop response speed.

The two current loops give currents as idr = 0 and iqr = kTr, respectively.

Where Tr is the given torque; k is the conversion factor of the torque and q-axis current, the value of
which depends on the motor parameters.

the control system must have a function that limits the maximum speed.

The fuzzy self-tuning PID controller is introduced as the speed loop instead of the PI controller, and the
output of the speed regulator is used to limit the current loop.

The given speed is the maximum speed limited by the electric vehicle. When the motor speed is lower
than the limited speed, the system only has the current loop function.

When the motor speed reaches the limit speed, the speed loop will limit the output of the current loop
to achieve the speed limit.

Usually, when designing the motor controller of an electric vehicle, it will take into account the
performance of the motor and the actual operation of electric vehicles, while the maximum speed is set.

Given the size of the torque depends on the electric car throttle opening. in the actual operation of the
electric vehicle, the given torque changes in real time.

2.2 fuzzy self-tuning PID controller design

Compared with the conventional PID control algorithm, the fuzzy control system does not depend on
the mathematical model of the control object and has good application in the nonlinear control system
[10].
The fuzzy self-tuning PID control combined with fuzzy control and conventional PID control can realize
the best adjustment of PID parameters and is suitable for the motor control system of electric vehicle,
showing strong robustness.

The design of fuzzy PID controller structure shown in Figure 2.

The fuzzy self-tuning PID controller consists of a fuzzy controller and a standard PID controller.

the input of Fuzzy controller are the speed error (e) and the rate of error change (ec) and the output
variables are Δkp, Δki, Δkd

According to the size of the error e, the direction and the transformation trend, the values of kp, ki and
kd can be adjusted in real time by fuzzy inference to achieve better control effect.

Input variables and output variables have 7 levels of quantification,

The fuzzy subsets are {PB, PM, PS, ZO, NS, NM, NB}, which mean {positive big, positive medium, positive
small, zero, negative small, negative medium, negative big}.

fuzzy quantity of Error e and the rate of error change (ec) is taken as {-4, -3, -2, -1,0,1,2,3,4}, and for
output variables Δkp, Δki, Δkd as {-3, -2, -1, 0, 1, 2, 3}.

Membership function is the triangular distribution function.

The quantization factors are ke = 5, kc = 20; and the scale factor are kkp = 2, kki = 0.01, kkd = 1.

Fuzzy inference uses the centrobaric method and minimum inference machine.

According to the setting of each membership function, self-adjusting control rules of Δkp, Δki and Δkd
are summarized as shown in Tables 1-3 respectively.

2.3 fuzzy neural network controller design

Fuzzy control has the advantages of language reasoning ability. However, its control rules are not
systematic. The learning and adaptive ability of neural networks can make up for the lack of fuzzy
control [12].

Fuzzy neural network combines the advantages of fuzzy control and neural network, to achieve better
control effect.
The design of fuzzy neural network controller structure shown in Figure 3.

The controller contains five layers of structure: input layer, fuzz layer, fuzzy rules layer, normalization
layer and output layer. The first layer is the input layer, and each input node corresponds to an input
variable.

Two input variables are used in this paper. The two input nodes represent the current error and the rate
of current error change.