Adaptive speed tracking control of electric vehicles driven by permanent magnet synchronous motor

In view of phenomena of parameter variations in the driving motor and the external disturbance resulting from the operating situation complicated of the electric vehicle in the driving process,the adaptive speed tracking control problem was investigated for electric vehicles driven by the permanent magnet synchronous motor(PMSM).A nonlinear dynamics was modeled for the electric vehicle consisting of a permanent magnet synchronous motor(PMSM) and the driveline.According to the characteristics of nonlinear,strong coupling of the system and parameter variations in the actual system,a nonlinear adaptive controller was designed based on the combination of backstepping recursive design and decoupling control technique.Theoretical analysis shows that the closed-loop system is stable regardless of parameter uncertainties and load disturbance.The simulation results illustrate the effectiveness of the proposed method for reducing the influence caused by the nonlinear characteristics of system and eliminating errors resulting from parameter variations and load disturbance to achieve the desired operation performance.