Proceedings of the Sixth International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (I-SMAC-2022).
IEEE Xplore Part Number: CFP22OSV-ART; ISBN: 978-1-6654-6941-8
Model Identification of Electric Vehicle System
2022 Sixth International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (I-SMAC) | 978-1-6654-6941-8/22/$31.00 ©2022 IEEE | DOI: 10.1109/I-SMAC55078.2022.9987309
Sandeep Kumar Sunori Manoj Chandra Lohani
Department of ECE School of Computing
Graphic Era Hill University Graphic Era Hill University
Bhimtal Campus Bhimtal Campus
Bhimtal, India Bhimtal, India
sandeepsunori@gmail.com getmlohani@gmail.com
Shweta Arora Amit Mittal
Department of PDP Department of EVS
Graphic Era Hill University Graphic Era Hill University
Bhimtal Campus, India Bhimtal Campus, India
dr.shwetarora@gmail.com amitforestry26@gmail.com
Abstract-
At present, electric vehicle has become a subject of
curiosity for a common man, and an area of research and
innovation for numerous researchers and inventors
worldwide. The point of attraction is the features owned
by an electric vehicle that are not there in the conventional
vehicles. The difference between these two is all about the
dc battery taking the position of IC engine. This paper
addresses the model identification of an electric vehicle.
The raw data set with numerous input and output values
has been used for identifying the mathematical model of
the process. Four different mathematical models have
been identified using the MATLAB. Finally their fitness is
compared.
Keywords- System identification; Electric vehicle; Transfer
function; Motor; ARX model; State space model; ARMAX model
I.INTRODUCTION
In electric vehicles, the mechanical energy required to rotate
the wheels is derived from the electric motor transforming
electrical energy into the mechanical energy. The electric
input is provided by the dc battery. An electric vehicle supply
equipment (EVSE) is used to charge the dc battery pack. As
there is no internal combustion as in the conventional
vehicles, electric vehicles are pollutant emission-less and
noiseless vehicles. The key component of an electric vehicle is
the traction battery pack which energizes the electric motor.
There is a charging port at which the external power supply is
connected to carry out charging of traction battery pack. The
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Sudhanshu Maurya Mehul Manu
School of Computing Department of Allied Sc.
Graphic Era Hill University Graphic Era Hill University
Bhimtal Campus Bhimtal Campus
Bhimtal, India Bhimtal, India
dr.sm0302@gmail.com photonqunta@gmail.com
Pradeep Juneja
Department of ECE
Graphic Era University
Dehradun, India
mailjuneja@gmail.com
output of this battery pack is very high so it is transformed to
low voltage by a DC to DC converter. This low DC voltage
runs the vehicle accessories, also recharges the auxiliary
battery. The speed control of the electric motor is
accomplished by the power electronics controller. There is
also a need of maintaining a suitable temperature range within
the electric motor. For this, electric vehicles contain a cooling
system also [1].
The electric vehicle schematic and its speed control system is
displayed in Fig.1 [2]. The four basic types of electric vehicle
are BEV (Battery Electric Vehicle), the HEV (Hybrid Electric
Vehicle), the PHEV (Plug-in Hybrid Electric Vehicle), and the
FCEV (Fuel Cell Electric Vehicles).
The BEVs run purely by the battery i.e. there is no
combustion engine. Their efficiency is more than that of
HEVs and PHEVs. In HEVs, electric motor as well as the
combustion engine is present but the charging of battery can‟t
be done through some external plug-in socket. Rather, the
charging takes place by the energy captured while braking (i.e.
regenerative braking). Through regenerative braking, kinetic
energy spent in stopping the vehicle is stored for charging the
battery. The engine plays both the roles here i.e. driving the
vehicle as well charging the battery. The vehicle is driven
either by the engine or by the electric motor, or by both
working altogether. In general for gaining maximum
efficiency, electric motor is used at low speed, and engine is
used at high speed. In PHEVs, the charging of battery can be
847
 Proceedings of the Sixth International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (I-SMAC-2022).
IEEE Xplore Part Number: CFP22OSV-ART; ISBN: 978-1-6654-6941-8

done both ways that is by plug-in and by the energy gained
through braking as well. PHEVs can cover smaller distances
without making any use of the combustion engine. In HEV
there is more consumption of gasoline than that of the
electrical energy, whereas exactly reverse is the case with
PHEV. In FCEVs, the vehicle is driven only by the electric
motors as in BEVs. However, in FCEVs, the electric motor is
run by the electricity generated by the fuel cell which does the
combination of hydrogen (stored in a tank) with the O2 present
in air. The recharging of the fuel cells is done by hydrogen
refilling [3, 4, 5, 6, 7, 8, 9, 10].
III. RESEARCH METHODOLOGY
The speed control system can only be simulated when the
mathematical model of the electric vehicle unit is known. In
this paper, the only focus is on the development of electric
vehicle model.
In general, there are 3 types of system identification methods.
The first method is the white box modeling wherein the
knowledge of process internal properties is the only basis of
identifying the process model. There is no availability of
input-output data. The second method is the black box
modeling wherein the available input-output data is the only
basis of identifying the process model. There is no knowledge
of process internal properties.The third method is the gray box
modeling which is carried out utilizing both the partially
known process properties and input, output data.

Four different models i.e. the transfer function (TF) model,

SS (state space) model, the autoregressive moving average
with exogenous variable (ARMAX) model, & the
autoregressive with exogenous variable (ARX) model have
been obtained using the MATLAB. Finally the step responses
and fitness of all the models is compared. The methodology
pursued is shown by Fig. 2.

Fig.1 Electric Vehicle System

II. LITERATURE SURVEY

C. Maini et al. presented the philosophies implemented in a

new electric car named e2O [11]. C. Wachter et al. presented a
study in which they analyzed the electric motorcycle-taxis (3
wheeled) feasibility in Dar es Salaam on power train. They
also suggested a possible variant of power train [12]. M.
Yaich et al. presented the modeling & simulation of 3
different topologies of electric vehicle. They used ADvanced
Vehicle SimulatOR (ADVISOR) in this work [13]. R. Evode
modeled the electric grid behaviors with charging stations
having G2V and V2G possibilities [14]. H. C. Güldorum et al.
have carried out a work on charging management system
pertaining to the electric vehicles considering V2V concept
[15]. A. R. Kamali and V. Prasanna Moorthy have done a
work based on the charging station for electric vehicles [17].
Fig.2 Methodology

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 Proceedings of the Sixth International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (I-SMAC-2022).
IEEE Xplore Part Number: CFP22OSV-ART; ISBN: 978-1-6654-6941-8

IV. SIMULATION AND ANALYSIS ( ) ( ) ( ) ( )

( ) ( ) ( ) ( )
Here, four different mathematical models are simulated using
MATLAB. They are as follows:
(6)
Transfer Function (TF) model:
Here, ( ) = H(z) w(n) (7)

( ) ( ) w(n) denotes the white noise , and H(z) is explored in

equation (8)

( )
( ) (8)
( )
State Space (SS) model:
Clubbing these equations, equation (9) is obtained which
Denoting input and output by u and y respectively with x
represents a general polynomial model.
denoting state vector and w denoting the noise; following is
the state space model: ( ) ( ) ( ) ( )
( ) (9)
( ) ( )

(2)
For an ARMAX process ( ) ( ). So, equation (9) gets
reduced to equation (10).
(3)
( ) ( ) ( ) ( ) ( ) ( ) (10)
[ ] The obtained values of Q(z), P(z), and R(z) using the
MATLAB are as follows:

[ ] ( ) (11)

( ) (12)

( ) (13)

Autoregressive with Exogenous Variable (ARX) Model:

[ ]
An ARX process is known to be a particular instance of
Autoregressive Moving Average with Exogenous Variable ARMAX process having ( ) . So, equation (10) is
Model (ARMAX): reduced to equation (14).
A linear system, in general, is characterized by equation (4) i.e ( ) ( ) ( ) ( ) ( ) (14)
[16].
The obtained values of Q(z) and P(z) using the MATLAB are
( ) ( ) ( ) ( ) ( ) as follows:
Here v(n), x(n), (n) respectively denote the output, input & ( ) (15)
the additive noise. T(z) is explored in equation (5)
( ) (16)
( )
( ) (5)
( )

Clubbing equations (4) and (5), following equation is yielded,

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 Proceedings of the Sixth International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (I-SMAC-2022).
IEEE Xplore Part Number: CFP22OSV-ART; ISBN: 978-1-6654-6941-8

Now, the step response is determined for all the simulated

models and it is compared with the actual measured step
response. This comparison has been displayed in Fig.3. The
resulting modeling error graphs are depicted in Fig.4. This
comparison leads to the result that ARMAX model is the best
model among all the models with the highest fitness of 77.48
% as shown in Table I. The fitness of TF, SS, and ARX
models are respectively 75.68 %, 49.31 % and 60.06 %.

Fig.4 Modeling error

TABLE I. Fitness of obtained models

Fig.3 Step response of obtained models of electric vehicle

V. CONCLUSION

In this article, an attempt is done to identify the

mathematical model of the electric vehicle. Using MATLAB,
four different models i.e. ARMAX model, ARX model, state
space model, and transfer function model, are identified.
Having compared their step response with the measured
output, their fitness is accessed. It is found that among four
identified models, the fit model is the ARMAX model.

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 Proceedings of the Sixth International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud) (I-SMAC-2022).
IEEE Xplore Part Number: CFP22OSV-ART; ISBN: 978-1-6654-6941-8

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