Effect of Standardized Driving-Cycle Characteristics on Control Performance and Energy Efficiency of a PID-Controlled Hybrid Electric Vehicle

The influence of standardized driving-cycle characteristics on the dynamic and energy performance of a parallel hybrid electric vehicle controlled by a fixed-gain PID speed controller was investigated. A control-oriented MATLAB/Simulink model was developed, including an electric traction subsystem, an electric battery pack, a simplified internal combustion engine subsystem, a supervisory torque-split controller and longitudinal vehicle dynamics. The same controller configuration was evaluated under the FTP75, HWFET and US06 cycles, with the shorter cycles repeated to obtain comparable durations. Control quality was assessed using RMSE, MAE, IAE and ITAE, whereas energy performance was quantified using battery state-of-charge variation, fuel consumption, engine utilization and traction motor current loading. FTP75 yielded favorable performance, with RMSE = 0.265 m/s, fuel consumption of 4.824 L/100 km and an SoC decrease of 19.698%, whereas US06 proved severe, with RMSE = 4.567 m/s, fuel consumption of 10.328 L/100 km, an SoC decrease of 41.630% and a peak motor current of 580.9 A. Sensitivity analysis showed that ±20% PID-gain variations do not materially alter the principal conclusion, while supervisory energy-management parameters exert a stronger influence on the trade-off between tracking quality, fuel expenditure and charge maintenance. The results confirm that fixed-gain PID control is cycle-dependent and becomes inadequate under aggressive driving conditions.