Elektrikli Araçlarda Kullanılan BLDC Motorun PI, PID, FOPI, FOPID ve FOPI+FOPD Tabanlı Kontrolörlerle Sürülmesi ve Verimliliklerinin Karşılaştırılması

Year 2025, Volume: 15 Issue: 4, 1730 - 1746, 15.12.2025

Hilmi Zenk , Mirza Mashfiqur Rahman

https://doi.org/10.31466/kfbd.1772193

Abstract

Bu çalışmada, elektrikli araçlarda kullanılan motor yapıları ve kontrol yöntemleri incelenmiş, özellikle fırçasız doğru akım (BLDC) motorlarının sürücü ve kontrol sistemleri üzerinde durulmuştur. Simulink tabanlı bir model oluşturularak BLDC motor için farklı kontrolör yapıları (PI: Oransal-İntegral denetleyici, PID: Oransal-İntegral-Türev denetleyici, FOPI: Kesirli Dereceli PI denetleyici, FOPID: Kesirli Dereceli PID denetleyici, FOPI+FOPD: Kesirli Dereceli PI + Kesirli Dereceli PD denetleyicileri) test edilmiştir. Elde edilen simülasyon sonuçları, klasik kontrolörlerin belirli ölçüde yeterli olmakla birlikte kesirli mertebeden kontrolörlerin daha esnek ve etkili performans sunduğunu göstermektedir. Özellikle FOPI+FOPD kontrolörünün hata kriterleri (ISE: Hata Kareleri Integrali, IAE: Hata Mutlak Değerinin Integrali, ITSE: Zaman Çarpanlı Hata Kareleri Integrali, ITAE: Zaman Çarpanlı Hata Mutlak Değerinin Integrali) açısından en düşük değerlere ulaştığı ve sistem kararlılığını artırdığı görülmüştür. Sonuçlar, elektrikli araç motor kontrolünde kesirli mertebeden kontrol yaklaşımlarının yüksek verimlilik ve güvenilirlik için güçlü bir alternatif sunduğunu ortaya koymaktadır.

Keywords

Elektrikli araçlar , BLDC motor , Motor kontrolü , PI/PID denetleyicileri , Kesirli mertebeden kontrol

Ethical Statement

Yapılan çalışmada araştırma ve yayın etiğine uyulmuştur.

Supporting Institution

Yok

Thanks

Yok

Driving BLDC Motor Used in Electric Vehicles with PI, PID, FOPI, FOPID and FOPI+FOPD Based Controllers and Comparison of Their Efficiency

Abstract

In this study, motor structures and control methods used in electric vehicles are examined with a particular focus on the drive and control systems of brushless direct current (BLDC) motors. A Simulink-based model was developed, and various controller structures (PI: Proportional-Integral, PID: Proportional-Integral-Derivative, FOPI: Fractional-Order PI, FOPID: Fractional-Order PID, FOPI+FOPD: Fractional-Order PI + Fractional-Order PD) were tested for BLDC motor control. The simulation results indicate that while classical controllers provide satisfactory performance to some extent, fractional-order controllers offer more flexible and effective control capabilities. In particular, the FOPI+FOPD controller achieved the lowest values in the error criteria (ISE: Integral of Squared Error, IAE: Integral of Absolute Error, ITSE: Integral of Time-Weighted Squared Error, ITAE: Integral of Time-Weighted Absolute Error) and enhanced system stability. These findings demonstrate that fractional-order control approaches present a strong alternative for improving efficiency, reliability, and overall performance in electric vehicle motor control applications.

Keywords

Electric vehicles , BLDC motor , Motor control , PI/PID controllers , Fractional-order control

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