**Abstract**

The problems of global warming, a decrease of the available natural resources and many other problems in the world that happen recently become the major cause for increasing the demand for a new type of vehicle. That vehicle can be an environmental friend and so that a new generation of vehicles has been invented and tried to solve and avoid many problems. In this chapter, the proposed system is called the Multi-Converter/Multi-Machine system (MCMMS) which consists of two Synchronous Reluctance Motor (SynRM) that drive the two rear wheels of Pure Electric Vehicle (PEV). The SynRM speed and torque are controlled by using three different strategies of the PID controller. The PSO algorithm has been used as an optimization technique to find the optimal PID parameter to enhance the drive system performance of the PEV. In this system, the space vector pulse width modulation inverter for voltage source (VS-SVPWMI) has been employed to convert the DC battery voltage to three-phase AC voltage that feeds the SynRM motor in the PEV. The linear speed of the vehicle is controlled by an Electronic Differential Controller (EDC) which gives the reference speed for each driving wheel which depends on the driver reference speed and the steering angle. The specified driving route topology with three different road cases has been applied to acting and show the resistive forces that affected on the PEV during its moving on the road. In addition, to test the efficiency and stability of the PEV on the roads. Hence, this chapter has a full design, simulation and several comparison results for the propulsion electric vehicle system and it has tested implemented in the Matlab/Simulink environment version R2020a.

**Keywords:** SynRM, SVPWM, Inverters, d-q Transformation, Electric vehicle, EDC, PSO algorithm, Driving cycle, Matlab/Simulink

#### **1. Introduction**

Environmental pollution and global warming resulting from the combustion of petroleum products in mechanical vehicles have pushed many companies to use electric vehicles (EV) that rely on clean alternative energy instead of petroleum energy. Besides, customers' interest in the increasing demand for EV due to their efficiency and modernity [1–4]. This prompted several companies to develop their products and expand their research studies on them so that they become as competitive as possible in mechanical vehicles. EVs are not only more efficient than their counterparts that operate on internal combustion engines, but they are also the best option to reduce pollution resulting from greenhouse gas emissions and noise, as they produce emissions at a rate less than half of what conventional cars produce.

EVs are environmentally friendly, as they do not emit carbon emissions of any kind and do not emit smoke or exhaust, and therefore, they protect the environment, especially in crowded cities [1–9]. It also works with recycled and reused batteries, to store energy in EVs, and finally it is suitable for cities where EVs are characterized by their quietness as they do not have an annoying engine sound, and suitable for crowded cities, due to the ease of controlling them from start and stop. Moreover, EV is not currently a detection; It was first proposed in the midnineteenth century. Although they have been around for a long time, they have not become as popular as Internal Combustion Engine (ICE) cars in the narrative of recent years [2, 4, 9–13], due to the main obstacles to electric vehicles as they are expensive, especially high-voltage batteries that are expensive, limited in range, and have little infrastructure. Charging stations as well [2]. The technological development of countries over the years, infrastructure and the EV of industries that led to the arising of environmental contaminate here then the need began to arise for the presence of vehicles that are concerned in that concern. The environmental side and from here began and the urgent need for EV to increase.

The market demand for EVs is expected to increase very shortly is anticipated to increase. Nowadays in many European and Eastern Asia countries and North America has a major interest in the development and the use of EVs [1–3]. They use EVs as taxis and as personal cars to move around within the city for the presence of trains and planes to move for the long distant places and a major concern now to make EVs move in the out-city range. Many EVs are used in cars as taxis Because EVs are a low cost compared to mechanical vehicles and charging stations are solar cells that transform solar energy into electrical energy [1, 2, 4–6]. It is one of the following sources of clean energy.

The manufacture and construction of electric vehicles vary from company to company, determined according to the needs and specifications required for the industry. There are many types that can be explained as follows: The first type is considered one of the oldest types which are still adopted in the industry and it contains one electric motor that is connected to the rear wheels and this type is called conventional electric vehicles or "classical EV system". The second type of system will be studied and analyzed in this chapter, which is based on two electric motors in the rear wheels of the EV, in which each engine operates separately from the other and is controlled by smart systems and this type is called " propulsion EV system ".The third type is the same design as the second type of electric vehicle, but the propulsion mechanism "electric motors" is attached to the front wheels of the vehicle and this type is called " traction EV system ".The fourth type of electric vehicle is a four-wheel drive using two electric motors. The first is on the axle of the rear wheels and the second is on the axle of the front wheels and each of them works separately with a specific control mechanism. This type is called a " four-wheel two motors EV system ". The last type of electric vehicle, which is four-wheel drive, using four electric motors, is distributed over the four tires of the vehicle and works separately, and this type is called "four-wheel EV system" [10]. In general, there are two types of electric vehicles which are Hydride Electric Vehicles (HEV) and Pure Electric Vehicle (PEV). These two types are considered as the major types of EV and minor types are divided from these two types depending on different aspects related to the driving system, configuration, costumers order, and other concerns depend on the designing specification.

The most current invention in the type of vehicle manufacturing EV [1–4]. The PEV are completely different from traditional "mechanical vehicles", although they operate on electrical energy starting from fuel and mechanical fuel engines, the internal structure of them depends on electronic circuits, transducers, and batteries. As well as the entry of artificial intelligence into the manufacturing process to control and control the electronic devices they contain [4, 13, 14]. Besides, in this type instead of using the gearbox, the Electronic Differential Controller (EDC) is designed and used to control the EV on the road. EVs that categorized according to the job of the drive system the many known electric drive systems that have been utilized in EV is induction motors (IM), brushless, DC motors (BLDC), permanent magnet synchronous motors (PMSM), switch reluctance motor (SRM) and other DC motors [15–20].

One of the most important things that must be considered when designing and simulating EVs is the method of controlling the electric vehicle on the road under different conditions to ensure the efficiency of the electric vehicle. As well as artificial intelligence and the application of new mathematical algorithms that help advance the manufacture of electric vehicles. The speed control of the electric motor in terms of rotation speed and torque is one of the most important factors that help in the success of electric vehicle design [2–4, 17–23]. As well as studying the forces affecting the vehicle on the street and applying artificial intelligence algorithms to get rid of them to make the electric vehicle compatible with all road conditions and the influence of external factors on it [13, 14].

The proposed EV system in this chapter called propulsion type EV which are consists of two motors that ensure the drive of the two rear driving wheels. Each motor is drive separately from the other by SynRM and the whole system is controlled by an electronic differential that guarantees the robustness of the vehicle. This vehicle system MCMMS. This type of EV is the most recommended type by the mechanical experts because of slipping issues in the curvature and high road in this type of vehicle **Figure 1** shows an EV with a rear-wheel drive system [4, 23]. Multiple intelligence theories and algorithms have been applied to control the vehicle's electric motor. Likewise, the design and analysis of EDC will be used to control the vehicle's speed during a bad road on road. In addition, a complete

**Figure 1.** *The propulsion EV platform system.*

simulation of the road with three different roofs to ensure the efficiency of the electric vehicle. The above will be explained in detail during this research with the scientific results and comparisons for each part designed in this EV [4–7, 24–31].
