Designing practical fuzzy gain scheduling controllers for micromobility applications of permanent magnet synchronous machines

In micromobility applications, maintaining satisfactory motor drive performance in the full torque-speed envelope of an outer rotor non-salient permanent magnet synchronous machine is a challenge due to the drastic performance degradation with the increasing non-linearity above the nominal ratings of the motor. In this article, we tackle this challenge via fuzzy gain scheduling proportional-integral speed controllers that have been designed by taking into account practical considerations. On the basis of experimental voltage ripple analyses conducted on the speed control loop with different system characteristics, we develop a single-input fuzzy gain scheduling proportional-integral speed controller and a double-input fuzzy gain scheduling proportional-integral speed controller to reduce the voltage ripples while providing satisfactory dynamical performance. The proposed structures continuously adjust the characteristics of the speed control loop within a specified region to exhibit different dynamical system characteristics against varying conditions. It is verified by the experimental test results that the proposed structures successfully reduced the increasing voltage ripples as the disturbances increase while providing satisfactory dynamical performance. Finally, we provided a discussion on the trade-off between the proposed structures and suggested deploying single-input fuzzy gain scheduling proportional-integral controller for micromobility speed control applications as it is agnostic to noise to a certain degree hence offering better reliability.