vii
TABLE OF CONTENTS
CHAPTER
TITLE
DECLARATION
DEDICATION
ACKNOWLEDGEMENT
ABSTRACT
ABSTRAK
TABLE OF CONTENTS
LIST OF TABLES
LIST OF FIGURES
1
INTRODUCTION
1.1
Background of the study
1.2
Statement of the problem
1.3
Purpose of the study
1.4
Objectives of the study
1.5
Significant and scope of the study
2
LITERATURE REVIEW
2.1
Introduction
2.2
A breif history of HEVs
2.3
Architecture of Hybrid Electric Drive Train
2.3.1
Series Hybrid Electric Drive Train
2.3.2
Parallel Hybrid Electric Drive Train
2.3.3
Drive train components
2.3.3.1 Internal Combustion Engine
2.3.3.2 The ICE modelling
2.3.4
The electric machines
2.3.5
The energy storage System
2.3.5.1 The battery
2.3.5.2 Capacitors
PAGE
ii
iii
iv
v
vi
vii
x
xi
1
1
3
3
4
4
5
5
6
7
7
9
11
11
12
14
17
17
19
viii
2.3.5.3 Power Electronics Converters
2.3.6
Vehicle Dynamics
2.3.6.1 Rolling resistance
2.3.6.2 Aerodynamic Drag
2.3.6.3 Uphill Resistance
2.3.6.4 Acceleration Force
Control strategies for hybrid vehicles
2.4.1
Rule-based control strategies
2.4.1.1 Deterministic rule-based strategies
2.4.1.2 Fuzzy rule-based methods
2.4.2
Optimization based control strategy
21
21
22
22
23
23
24
25
METHODOLOGY
3.1
Introduction
3.2
Sizing of the driveline’s component
3.2.1
Engine Power Capacity
3.2.2
Electric Motor Power Capacity
3.2.3
Transmission design
3.2.4
Energy storage system
3.3
Parallel HEV Simulation
3.3.1
Vehicle Dynamic Subsystem
3.3.2
Electric Component Subsystem
3.3.2.1 Electric Motor
3.3.2.2 DC-DC Converter
3.3.2.3 Energy storage/Battery
3.3.3
Mechanical Component Subsystem
3.3.3.1 Engine Simulation and Modelling
3.3.3.2 Mechanical Coupling devices
3.3.4
Control Subsystem
3.3.5
Parallel Hybrid Electric Vehicle Performance Test
3.3.6
Driver Model
3.3.7
Fuel Economy Analysis
28
28
28
29
30
31
32
32
33
34
35
36
37
38
SIMULATION RESULT AND DISCUSSION
4.1
Introduction
49
49
2.4
3
4
26
27
27
38
38
40
44
44
47
ix
x
LIST OF TABLES
TABLE NO.
3.1
3.2
4.1
TITLE
Engine parameters
Battery specification
Parallel HEV fuel economy based on stuided driving
cycles
PAGE
30
32
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xi
LIST OF FIGURES
FIGURE NO.
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
2.12
2.13
2.14
2.15
2.16
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
TITLE
Functional block diagram of a series hybrid vehicle
Configuration of a series hybrid vehicle
Functional diagram of the parallel hybrid electric vehicle
Configuration of the parallel hybrid drive train
Schematic of typical 4S, gasoline engine
Power, Torque and SPC characteristics for ICE
SPC and efficiency of the typical ICE at different load
condition
Engine Static Model
A typical Electric Motor efficiency map
The Electric machine in generating mode
Motoring Mode
General Model of energy storage system[3]
Battery Circuit Model
Circuit model of super-capacitor pack
Acted Forces on vehicle
Classification of the hybrid power train control strategy
Motor torque-speed characteristics
Dynamic conceptual block diagram
Vehicle dynamic subsystem in Matlab/Simulink
Functional diagram of a typical electric propulsion
system
Electric motor Simulation in Simulink/Simscape
Motor torque-speed characteristics inserted in servomotor block
DC/DC converter model in Simulink/Simscape
Battery Model in Simulik/Simscape
Engine simulation in Matlab/Simulink environment
Conceptual configuration of the speed coupling parallel
HEV
PAGE
8
8
10
11
12
13
13
13
15
16
16
18
19
20
21
25
31
33
34
35
35
36
37
37
38
39
xii
3.11
3.12
3.13
3.14
3.16
3.15
3.17
3.18
3.19
3.20
3.21
3.22
3.23
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.10
4.11
4.12
4.16
4.13
4.14
4.15
4.17
4.18
4.19
4.20
4.21
4.22
4.23
4.24
Planetary gear unit
Hybrid electric drive train with speed coupling of
planetary gear
Parallel HEV overall control scheme
Parallel HEV supervisory control strategy
Parallel HEV various operating mode
Parallel HEV supervisory control logic in stateflow
ECE 15 Cycle
EUDC Cycle
EUDC Cycle for low power Vehicles
FTP-72 Cycle
Self-defined Drive cycle
Driver Model block in Matlab/Simulink
Parallel HEV fuel economy
Vehicle output speed for ECE 15 drive cycle
EM gnerator torque for motion mode and regenerative
mode
Power generation for driving based on ECE 15
ICE generated torque
ICE throttle control signal
ICE output speed
Automative driver (Accelerator ) control signal
Electric characteristics of the dc bus
Battery SOC characteristics for ECE 15
Vehicle output speed for EUDC cycle
ICE power genratrion for EUDC
Engine speed under EUDC driving condition
Battery SOC characteristics based on EUDC
Engine throttle command
Accelerator command signal
Generated torque by EM
Vehicle dc bus characteristics
Vehicle output speed
Power generation by ICE
Produce torque by ICE
Throttle command to ICE
ICE speed (rpm)
Accelerator command signal based on EUDC
Generated torque by EM
40
40
41
42
43
43
44
45
45
46
46
47
48
50
51
52
52
53
54
55
55
56
57
57
58
58
59
59
60
60
61
62
62
63
63
64
64
xiii
4.25
4.26
4.27
4.29
4.28
4.30
4.31
4.32
4.33
4.34
4.35
4.36
4.37
4.38
4.39
4.40
4.41
4.42
4.43
Battery SOC characteristics
Vehicle output speed
ICE power generation on the basis of the FTP drive cycle
Engine Speed (rpm) based on FTP 72
ICE torque generation based on the FTP drive cycle
Automative driver command signal
Engine speed control throttle command signal
Motor Torque generation characteristics based on FTP
72
Battery State of Charge characteristics for FTP 72
DC bus electrical characteristics
vehicle output speed
Engine speed, rpm
Delivered torque to the load by ICE
Delivered power to the driveline by ICE
Throttle command to ICE
EM torqe baed on self-defined test driving cycle
Automative driver command to the control unit
DC/DC bus characteristics
Battery SOC characteristics
65
66
66
67
67
68
68
69
69
70
71
71
72
72
73
73
74
74
75
xiv
LIST OF ABBREVIATIONS
EV
-
Electric Vehicle
HEV
-
Hybrid Electric Vehicle
ICE
-
Internal Combustion Engine
SOC
-
State Of Charge
EM
-
Electric Machine
xv
LIST OF SYMBOLS
Af
–
Frontal Area
C
–
Capacitance
d
–
Piezoelectric Transmission Coefficient
E
–
Energy
F
–
Force
f
–
Frequency
fr
–
Resistance Coefficient
CD
–
Aerodynamic Drag Coefficient
Cr
–
Frictional Constant
J
–
Inertia of the vehicle
M, m
–
Mass
P
–
Power
Qtot
–
Capacitor Total Charge
Req
–
Capacitor Equivalent Resistance
T
–
Period
V
–
Voltage
i(t)
–
Current
it
–
Transmission Efficiency
W
–
Weight
r
–
Tire Radius
α
–
Road Gradient
δ
–
Mass Factor
η
–
efficiency
ρ
–
Air Density
τ
–
Torque
ω
–
Angular Velocity
–