Research on the Adaptive PID Speed Control Method for Hub Motors

Table 5

Control performance index comparison table.

Control strategy	Control goals (r/min)	Rise time	Steady-state duration	Overshoot (%)	Steady-state error (%)
PID	100	0.14	1.235	36	2
	300	0.215	1.63	23	4
Adaptive PID	100	0.06	0.975	50	4
	300	0.11	0.83	29	3.6
Fuzzy adaptive PID	100	0.075	0.685	30	1
	300	0.135	0.625	17	3.3