Enhanced PD Controller for Speed Control of Electric Vehicle Based on Gorilla Troops Algorithm.

Electric vehicle (EV) technology is developing and requires effective and adaptive controllers to enhance performance and be the best sustainable solution to the population concerns caused by oil from other vehicles. This paper proposes a nonlinear Proportional Derivative (PD) controller to control motor speed in EV. The controller's optimal gains are tuned using Gorilla Troops Optimization (GTO). Two classical controllers (PID, PD) are compared with nonlinear PD controller, all tuned controller variables are determined using the GTO algorithm, and the Integral Time Absolute Error (ITAE) fitness function is adopted to maintain the system performance. To simulate the system response, MATLAB (Platforms for m-file and Simulink) is used. The achieved results are compared with the classical controllers (PD &PID) to demonstrate the efficacy of the suggested nonlinear PD controller. The benefits of using the nonlinear hyperbolic function effect on system behavior can be seen in its quick settling time, which is 9.6% faster than the traditional PID controller and 47% faster than the traditional PD controller. It also became apparent in its stable response, which was free of noise and overshoot while the PID controller overshoots with a value of (8.8). While in rise time, the proposed controller with 0.0083s outperforms the PID controller 0.4905s, and the PD controller 0.1315s. According to the simulation results, the nonlinear PD controller settling time is faster and more smoothly (0.0187s) than the PID (0.18s) and PD (0.88s) controllers, which are also optimized with the same GTO tuning algorithm. The suggested controller and the intelligent tuning algorithm guided the system's response to produce the best outputs. The simulation results demonstrated a steady behavior and an effective response in tracking the intended speed value; transient analysis is utilized to explain the performance of the suggested controller. [ABSTRACT FROM AUTHOR]