How to tune the PID controller for Simscape Vehicle model ?

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Arun Pandian Kumaresan
评论： Darshil Dharod 2019-5-12
I am facing problem in tuning the PID controller for my simscape vehicle model. Below are the description about the model.
1.) Input is the vehicle speed setpoint from step block. I have used PI controller to convert the vehicle speed error to acceleration demand with limit 0 to 1.
2.) With a lookup table, I have converted acceleration demand to engine speed demand.
3.) Then I have used another PID controller to correct the engine speed error and limited it to 0 to 1, which is the input to the throttle.
I just need some guidance on finding out the appropriate gains for both of my controllers. I have also attached my model and .mat file for your reference. Please help me.
Unbenannt.PNG
  1 个评论
Darshil Dharod
Darshil Dharod 2019-5-12
Hi Arun,
I am also developing a hybrid drivetrain model in Simulink. Can you help with my following questions:
1) How do you get the engine rpm demand from the acceleration demand ? How do we get the engine rpm values for the corresponding acceleration demand value for the lookup table ?
2) I want to couple the torques from the electric motor and the ICE and deliver the summation of the 2 torques to the final driveline using a torque coupler ? Do you have any idea about how to model such a gear system ?
Any help would be much appreciated.
Thanks you in advance.

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回答（5 个）

Arvind Sathyanarayanan
Have you tried the PID tuner app? You will to replace your controller with the MATLAB PID Controller to use the app. You could follow the example here.
Arun Pandian Kumaresan
Hello Mr.Sathyanarayanan,
First of all, thank you so much for your reply. I followed that example and tuned both the PI controllers in my simulink model and I have posted the simulation result below. When I replace step block with a traffic simulation software (SUMO) and run the model, the vehicle speed is always zero. I will post the simulatino result soon after this comment.
Unbenannt.PNG
Arun Pandian Kumaresan
Unbenannt2.PNG
Arun Pandian Kumaresan
For the same controller gain values, the vehicle speed (blue colour) is in negative and when I use step block it is working fine. Please provide me some suggestions on how to proceed. Hope to get a reply from you.
(Yellow colour is the vehicle speed setpoint)
Unbenannt.PNG
Arun Pandian Kumaresan
*For the same controller gain values, the vehicle speed (blue colour) is in negative when the input is from traffic simulation software, but when I use step block it is working fine. Please provide me some suggestions on how to proceed. Hope to get a reply from you.
  1 个评论
Arvind Sathyanarayanan
Arvind Sathyanarayanan 2018-12-11
Arun, it looks like you added a 20 kHz lowpass filter (20 kHz Lowpass filter 3) on your feedback which could be affecting the perfomance of your controller.
Have you tried running your model without this filter?

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