Control-oriented steady-state discharge modelling of supercapacitors and batteries for closed-loop BLDC motor systems using ARX and ARMAX model

Azri, A. Aziz and Saidon, M. Saifizi and Othman, Siti Marhainis and Romli, M. Izuan Fahmi and Abdullah, Muhammad (2026) Control-oriented steady-state discharge modelling of supercapacitors and batteries for closed-loop BLDC motor systems using ARX and ARMAX model. International Journal of Robotics and Control Systems, 6 (2). pp. 1197-1217. E-ISSN 2775-2658

	PDF - Published Version Restricted to Repository staff only Download (6MB) | Request a copy
Preview	PDF - Supplemental Material Download (205kB) | Preview

Abstract

This paper investigates control-oriented steady-state discharge modelling of a supercapacitor (SC) and a lithium-ion battery supplying a brushless DC (BLDC) motor in a closed-loop system. The study addresses the lack of discharge models that represent energy storage behavior under motor loading conditions, which is critical for accurate current regulation in electric vehicle applications. Linear black-box identification using ARX and ARMAX structures is employed to model the relationship between PWM duty cycle and discharge current at fixed operating points. Experimental data are collected from a laboratory-scale BLDC drive with a sampling time of 0.01 s, focusing on steady-state operation at reference currents of 0.4 A and 0.6 A. System identification is performed using segmented datasets, and model orders are selected through a guided process that prioritizes low computational complexity while maximizing best-fit accuracy. Model performance is evaluated using prediction best-fit metrics. Results show that ARMAX models consistently outperform ARX models, achieving best-fit values of up to 91.96% for the SC and 89.84% for the battery, representing an improvement of approximately 3%. This improvement indicates enhanced prediction accuracy and disturbance handling, which directly supports smoother and more reliable closed-loop current control. The research contributes a validated modelling framework for EV energy storage systems that enables accurate current estimation and improved control efficiency.

Item Type:	Article (Journal)
Uncontrolled Keywords:	ARX and ARMAX Model; Steady-State Discharge; Close-Loop System; Supercapacitor Battery; BLDC Motor
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechanical Engineering
Depositing User:	Muhammad Bin Abdullah
Date Deposited:	31 Jul 2026 11:05
Last Update:	31 Jul 2026 11:09
Queue Number:	2026-07-Q4402
URI:	http://irep.iium.edu.my/id/eprint/130137

Actions (login required)

View Item