Self-tuning fuzzy PID speed controller for quarter electric vehicle driven by In-wheel BLDC motor and Pacejka's tire model

Vehicles using internal combustion engine (ICE) adversely affect the environment. Therefore, all vehicle makers have started their mutation toward electric vehicles. In this paper, a quarter vehicle model is developed considering brushless DC (BLDC) motor actuation. The longitudinal behavior of the drive wheel is modeled using the Pacejka model or magic formula. This model describes the interaction between the tire and the road surface, which reflects road condition effect. The purpose of the control is to provide smooth speed control in both acceleration and deceleration modes, regardless of changes in road conditions. Due to the high complexity of the control model, a hybrid fuzzy-PID controller is designed to serve as a speed controller for the system motor-tire-road-surface. It is checked by numerous simulations that the proposed controller performs well, ensuring comfortable steering operation despite road characteristic changes.