2018 International Seminar on Application for Technology of Information and Communication (iSemantic)

Performance Evaluation of Speed Controller

Permanent DC Motor in Electric bike Using Fuzzy
Logic Control System
Renny Rakhmawati Irianto
Department of Electrical Engineering Department of Electrical Engineering
Electronic Engineering Polytechnic Institute of Surabaya Electronic Engineering Polytechnic Institute of Surabaya
Surabaya, Indonesia Surabaya, Indonesia
[email protected] [email protected]

Farid Dwi Murdianto Gamal Tabrani Ilman Syah

Department of Electrical Engineering Department of Electrical Engineering
Electronic Engineering Polytechnic Institute of Surabaya Electronic Engineering Polytechnic Institute of Surabaya
Surabaya, Indonesia Surabaya, Indonesia
[email protected], [email protected] [email protected]@gmail.com

Abstract - The drive system is one of the most important large duty cycle, the electric motor can rotate along with
parts on an electric bicycle. One of the drives used is a the magnitude of the duty cycle. Many research explain
permanent magnet DC motor. Unfortunately Electric motors about duty cycle control using Artificial Inteligent [7-12]
pose new problems when applied to electric bicycle mechanics.
in DC to DC converter. Electric motors on electric bike
The problem is divided into 2 parts, the first is the heavy load
conditions make the setting point missed from the expected. tends to be difficult to control when integrated with
second is the speed response of the bike system to reach steady mechanics. Some problems arise when integrated is like
state is too slow. Therefore a paper with the title Design and the condition of mechanical loads of basic concern when
Implementation of Permanent DC Motor for Electric bike designing electric bicycles. And the respon speed of time
Using Fuzzy Method becomes a solution to solve the problems is too slow. From the problems above, the purpose of
that arise when integrated. Fuzzy method becomes solution to this paper is to solve the above problems using fuzzy
make a control more subtle that can adjust to the load changes. method. In order for electric bikes can go with more
And quickly reach the set point.
stability.
Keywords—Electric bike, Permanent DC motor, Fuzzy
II. MODELING OF ELECTRIC BIKE SYSTEM

I. INTRODUCTION In the second chapter are repesent design of electric bike

designed system which are block diagram and flowchart.
The electric motor in this era is very important. The
electric motor can do anything to help human activity is A. Block Diagram of Electric Bike
like mixer, water pump, electric vehicle and many others
[1] They are many kind of electric motor is like
separated dc motors, induction motors and dc
permanent motors.
DC electric motors have long been applied to electric
Switch
vehicles. Permanent DC has the advantage of applying an
electric bike, which has high torque and has the
advantages of not easy to slip and simple to change a
speed [2].
Each electric motor has a driver system to drive. The Fuzzy
drive system that can be used on a permanent dc motor
drive type is a buck converter [3]. One technique used is
the technique of setting duty cycle. [4-6] By adjusting the Fig. 1. Block Diagram of electric bike system

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Figure 1 present a block diagram of electric bike system C. Design of Buck Converter (Driver Motor)
with accu as energy source. The energy from the batteries is Buck converter is an electronic circuit used to convert dc
set from 0-42 volts using the regulation of buck converter voltage to dc voltage. The output voltage of buck converter
(step down DC-DC converter) as a supply of DC motor (DC is smaller than the input. Design of electric bike is needed
motor driver). The electric bicycle system uses two modes, to know the DC motor specification. The maksimum speed
manual and automatic. When set manually the system using of electric bike is designed 40 km/h. The diameter of wheel
trothtle (ADC) as the trigger of big duty cycle change in is 70 cm and maksimum load of electric bike is 120 kg
buck converter. The duty cycle can set from 0-100%, it’s (mechannic and human).
mean the buck converter can drive speed of DC motor from
0 km/h - maximum rotation km/h. when set automatic
mode, the rotary sensor give a data as feed back to
microcontroller. The microntroller will give respon and the
mode of electric bike system into Fuzzy control

B. Design of DC Motor
Design of electric bike is needed to know the DC motor
specification. The maximum speed of electric bike is Fig 2. Buck converter circuit
designed 40 km/h. Diameter of wheel is 70 cm, and
maximum ability electric bike to withstand load is 120 kg. Vobuck = Vs max x D (6)

K = πD 1  Vo+Vf   1 
(1) (7)
L= * (Vs max - Vo) *   *  
s x1000 m/jam f  Vs max +Vf   ΔiL 
n= (2)
K 1−D (8)
C=
8x L x ( ΔV/Vo) xf 2
F = Fa+ m x g ( sin θ 0 + u cos θ 0 ) (3)
Note:
F (π)(D) (4) Vin : Input Voltage
TL = x
2x πxη R Vo : Output Voltage
P L : Inductor
Tm= (5)
ω C : Capacitor
Note: Equation 6 (Output voltage of buck converter design), 7
K = Long of circumference (Inductor design) and (capacitor design) are required to
n = rotation design a DC motor used. In this paper buck converter used
F = Force to control input voltage of DC motor (driver of DC motor).
Fa = External force Table II is present design value of buck converter and figur
m = massa 3 is a hard ware of buck converter.
g = gravitation
D = diameter TABLE II. DESIGN VALUE OF BUCK CONVERTER
R = Ratio of gear box (1:5)
Tl = Torque of load Vin Vo L C
Tm = Torque of motor
P = Power of motor 42 24 66.577 100,58 uF
Equation 1 (Long the circumference of a wheel), 2
(Rotation of wheel), 3 (Force) , 4 (Torque load) and 5
(Torqur motor) are required to design a DC motor used.
Table I present design value of each calculation.

TABLE I. DATA SPESIFICATION OF ELECTRIK MOTOR DESIGN

K P
N F TL TL(new)
motor

2.198 303.306 149,16 4.73585 6,0795 350 W

Fig. 3 . Hardware of buck converter

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D. Electric Bike Design

Electric bike is needed mechanic design. It is necessary
to design the bike to be integrated with electrical
components and can be easily driven. Mechanical design on
electric bicycles is generally as same as with other bikes that
exist in the market, but this electric bike using a resuffle
design of bike. Figure 4 is the electric bike mechanic design
on electric bicycles is generally the same as other electric
bikes that exist in the market, but this electric bike using a
design reshuffle of wind vehicles with 350 Watt Permanent
DC motor. Fig.6. Error of membership function 5x5

2. Variabel Input of Delta Error (dE)

To get a smooth tracking, the input change in error is
like figure 7 the delta error set same as membership error
function from -80 to 80.

Fig.7. Error of membership function 5x5

Fig.4. Electric bike design
Note: 3. Rule base
1. Throttle
2. Permanent DC motor Rule base is linguistic rule of respon. Rule base is
3. Electric component important to get accordingto which desired. Table III is
4. Rotary encoder sensor represnt of rule base
er
TABLE. III. RULE BASE OF FUZZY LOGIC CONTROLLER
E. Design of Fuzzy Logic Controller
Fuzzy logic design of this paper is use to set value of
dutycycle. Figure 5 is the represent of diagram blog of
speed control using fuzzy logic.

Fig. 5. Diagram blog of fuzzy contol design

Note:
There are two input data, error and delta error DL = Decrease Large
DM = Decrease Medium
1. Variable of Input Error (E) DS = Decrease Small
Input error numerik is like figure 6, has range NC = Not Change
from -80 to 80 IS = Increase Small
IM = Increase Medium
IL = Incrase Large

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4. Output Variable (Singletone)

Fuzzy logic output is singletone. Figure 8 is singletone
of fuzzy logic

Fig. 8. Output singletone

Fig. 11. Speed respon in openloop mode whit disturbance
III. SIMULATION AND EXPERIMENTAL RESULTS
In the third chapter are comparing simulations on matlab
simulink with real time results on measurements on the
output speed respon.
A. Electric Bike whit Speed Control Simulation
Simulation of speed control was done using Fuzzy
method by matlab simulink. With this simulation is
expected that output speed output of electric bike is
constant. Figure 9 present transfer function block of matlab
simulink for electric bike system. Figure 10 is a chart of
output speed respon of electric bike without control, figure
11 is a chart of output respon of electric bike whit load
disturbance (without control) and figure 12 is a chart of
output respon of electric bike whit load disturbance (Fuzzy
controlled). Fig.12. Speed respon in closeloop (FUZZY control) mode whit disturbance

B. Elctric bike system with FUZZY Control Experimental

The control speed of electric bike using FUZZY logic
control aims to enhance a time respon to reach setting
point. Comparison of open loop and close loop (Fuzzy
control) responses are presented in tables 4 and 5. In this
experience the information of load is human = 50 Kg,
Fig. 9. Simulasi boost converter with constant voltage control
mechanic = 68 Kg.
TABLE IV. ELECTRIC BIKE TEST WITHOUT CONTROL

Fig. 10. Speed respon in openloop mode

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TABLE V. ELECTRIC BIKE TEST USING CONTROL (FUZZY) TABLE VI. ELECTRIC BIKE TEST WITHOUT CONTROL

Rotation of wheel (Rpm) Time (s) Rotation of wheel

Time (s)
(Rpm)
0 0
0 0
32,18 1
27,13 1
53,30 2
26,1 2
69,40 3
28,16 3
81,46 4
54,31 4
80,46 5
64,37 5
79,45 6
70,40 6
78,45 7
75,40 7
81,46 4
75,43 8
80,46 5
83,48 9
79,45 6
83,48 10
78,45 7
83,48 11
83,48 12
70.51 13
70.51 14
70 15
70.23 16
70.23 17

Based on the test data, the graph of the response by using

fuzzy logic control and without fuzzy logic control can be
seen on figure 13 and Figure 14.

TABLE VII. ELECTRIC BIKE TEST USING CONTROL (FUZZY)

Fig. 13. Speed respon without control

Rotation of wheel (Rpm) Time (s)

0 0
32,18 1
53,30 2
69,40 3
81,46 4
80,46 5
79,45 6
78,45 7
70,51 8
Fig. 14. Speed respon with fuzzy control
70,53 9
After get a speed respon, the next experiment is give a 75,45 10
disturbance when the system work. Table 6 and table 7 is
77,45 11
the realtime data of disturbance respon. The load condition
of this experiment is human = 50 Kg, electric bike mechanic 77,45 12
= 68 kg and the disturbance load = 7 Kg. 77,45 13
77,45 14

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Note: [8] Soedibyo, Murdianto F.D, Suyanto, A. Mochamad, P.

Ontoseno,”Modeling and simulation of mppt SEPIC combined
Green color has mean that the respon is gave a disturbance.
bidirectional control invers KY converter using ANFIS in microgrid
system,” Indonesian Journal of Electrical Engineering and Computer
Figure 15 is open loop respon without disturbance and Science, vol. 1, pp. 264-272, February 2016.
figure 16 is the represent of close loop speed respon with [9] Suyanto, Murdianto F.D, P. Ontoseno, S. Adi, S. Rony,”Wind-PV
disturbance. hybrid system modeling using bidirectional converter with MPPT-
dual adaptive neuro fuzzy inference system (ANFIS) in microgrid
isolated system,” Journal of Engineering and Applied Sciences, vol.
11, pp. 2353-2359, December 2016.
[10] Rakhmawati R, Wahjono E, Suhariningsih, Murdianto F.D,
Andriawan D,”Design and Implementation Boost Converter with
Constant Voltage in Dynamic Load,” International Seminar on
Application for Technology of Information and Communication
(iSemantic), 2017
[11] Efendi M.Z, Murdianto F.D, Setiawan R.E,”Modeling and simulation
of MPPT sepie converter using modified PSO to overcome partial
shading impact on DC microgrid system,” International Electronics
Symposium on Engineering Technology and Applications (IES-
ETA), 2017.
Fig. 15. Open loop speed respon with disturbance [12] Murdianto F.D, Nansur A.R, Hermawan A.S.L,”Modeling and
simulation of MPPT coupled inductor sepie converter using Flower
Pollination Algorithm (FPA) Method in DC mierogrid system,”
International Electronics Symposium on Engineering Technology and
Applications (IES-ETA), 2017.
[13] F.D. Murdianto, M. Z. Efendi, R. E. Setiawan and A. S.. L.
Hermawan, “Comparison method of MPSO, FPA, and GWO
algorithm in MPPT SEPIC converter under dynamic partial shading
condition”, International Conference on Advanced Mechatronics,
Intelligent Manufacture, and Industrial Automation (ICAMIMIA),
2017
[14] F.D. Murdianto, A. S.. L. Hermawan, A. R. Nansur and R. E.
Setiawan, “Comparison method of flower pollination algorithm,
Fig. 16. Close loop speed respon with disturbance modified particle swarm optimization and perturb & observe in
MPPT coupled inductor sepic converter on DC microgrid isolated
IV. CONCLUSION system”, International Conference on Advanced Mechatronics,
Intelligent Manufacture, and Industrial Automation (ICAMIMIA),
Simulation result show that the fuzzy control can be 2017
applied in electric bike system with the time respon increase
5 second faster than uncontrol system. The fuzzy can keep
the set point although the system gave a disturbance with
increase load.

References
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