Modelling and PID Control of an In-Wheel Motor

Ibrahim Faruk Muhammad, Shehu Sa'id Farinwata, Auwalu Muhammad Abdullahi


In-wheel motor (IWM) is a complex non-linear and multi-changeable control system. The non-linear magnetic characteristics of the motor under normally saturated operation and other internal parameter value variations with the environment makes their control and optimisation relatively complex. A suitable control algorithm often has to be employed in other to achieve the required performance and other control objectives. In this work, the dynamic model of the IWM using hard modelling is presented. The controllability and observability of the model are also verified. Simulation using Matlab Simulink is used to validate the model and subsequently developing a classical proportional-integral-derivative (PID) controller for the system. The simulation results shows that the PID controller provides satisfactory trajectory tracking of the reference signal.


Dynamic model; In-wheel motor; Modelling; PID

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