Design and Tuning of Fractional Order Pid (Fopid) Controller for Speed Control of Electric Vehicle on Concrete Roads

Abstract

The paper presents the design of FOPID controller for speed control of an electric vehicle. This study considers the transfer function model for speed control of an electric vehicle specifically on concrete roads. The performance of the system using integer-order PID (IOPID) and FOPID controllers are compared. The IOPID controller parameters \mathrm{K}-{\mathrm{p}}, \mathrm{K}-{\mathrm{i}} and \mathrm{K}-{\mathrm{d}} are designed using conventional tuning methods like ZieglerNichols (ZN), Cohen-Coon (CC), Astrom-Hagglund (AH) and Chien-Hrones-Reswick (CHR). These controller parameter values are set as initial values for FOPID tuning and are also used to determine the order of integration (\mathrm{s}^{\lambda}) and differentiation (\mathrm{s}^{\mu}) with different optimization methods like Nelder-Mead (NM), Interior-Point (IP) and Active-set (AS) algorithm using the Matlab FOMCON toolbox. The paper also describes different FOPID tuning methods like Ziegler-Nichols, Padula and Visioli and tuning by minimization.