Cascade Sliding Mode — New Robust PID contro for BLDC motor of In-wheel system

A torque control method for Brushless Direct Current (BLDC) motor is introduced in this paper, which plays vital roles in In-wheel vehicle system. In-wheel motor can be used in electric cars with 4 wheels independent drive configuration. Within every wheel, there can be one “Direct-Drive In-wheel motor” to generate the necessary torque per wheel. In order to improve dynamic response characteristics in terms of torque and disturbance reject, a cascade Sliding Mode Control - New Robust PID (SMC - NRPID) controller is developed. The structure of NRPID is composed with new type of integral control action. This new improved integral control has concept of error window and weight function concept. The performance of NRPID technique is compared with those of conventional ones via simulation. Simulation results show that the proposed method is effective and enhanced the dynamic performance of the system.