Speed Control of Electric Vehicle Propulsion with Autotuning at Changeable Driving Modes and Road Conditions

Considering the high demands continually imposed on equipment indispensable for intelligent transportation, this paper focuses on the cruise control in propulsion systems of road electric vehicles. The research lays emphasis on how to arrange optimal dynamics in terms of the speed overshoot and the speed rise time at changeable driving modes and road conditions. The paper addresses two aspects, namely, most accurate following the demanded transition process and most rapid achieving the setpoint. The former issue is typical for industrial vehicles operated in rather stable obstacles (loaders, forklift trucks, carriers, etc.), whereas the latter one concerns traditional road electric cars. Online autotuning of the controller is provided directly in the driving process by applying periodically estimated slope and peak input signals for analysing the speed responses and correcting controller settings. Tuning procedures based on binary logic and fuzzy logic approaches are compared.