Hybrid Electric Vehicle System Modeling and Control

Dr. Wei (Kevin) Liu is an Engineering Specialist in the Electric Power & Advanced Systems Department of General Motors with expertise in dynamic system design, performance analysis, modeling and control. He has 14 years of hybrid electric vehicle engineering experience and 15 years of academic experience. Dr. Liu's primary technical interests are dynamic system control, modeling, performance analysis and fault diagnosis. He currently focuses on the energy management strategy, energy storage system modeling and control algorithm development of hybrid vehicle systems at General Motors. He has authored over 30 technical papers and holds eight patents.

• Preface xivList of Abbreviations xviiiNomenclature xxii1 Introduction 11.1 Classification of Hybrid Electric Vehicles 21.1.1 Micro Hybrid Electric Vehicles 21.1.2 Mild Hybrid Electric Vehicles 21.1.3 Full Hybrid Electric Vehicles 31.1.4 Electric Vehicles 31.1.5 Plug-in Hybrid Electric Vehicles 41.2 General Architectures of Hybrid Electric Vehicles 41.2.1 Series Hybrid 41.2.2 Parallel Hybrid 51.2.3 Series–Parallel Hybrid 61.3 Typical Layouts of the Parallel Hybrid Electric Propulsion System 71.4 Hybrid Electric Vehicle System Components 81.5 Hybrid Electric Vehicle System Analysis 101.5.1 Power Flow of Hybrid Electric Vehicles 101.5.2 Fuel Economy Benefits of Hybrid Electric Vehicles 111.5.3 Typical Drive Cycles 111.5.4 Vehicle Drivability 111.5.5 Hybrid Electric Vehicle Fuel Economy and Emissions 131.6 Controls of Hybrid Electric Vehicles 13References 142 Basic Components of Hybrid Electric Vehicles 152.1 The Prime Mover 152.1.1 Gasoline Engines 152.1.2 Diesel Engines 172.1.3 Fuel Cells 172.2 Electric Motor with a DC–DC Converter and a DC–AC Inverter 202.3 Energy Storage System 212.3.1 Energy Storage System Requirements for Hybrid Electric Vehicles 212.3.2 Basic Types of Battery for Hybrid Electric Vehicle System Applications 252.3.3 Ultracapacitors for Hybrid Electric Vehicle System Applications 342.4 Transmission System in Hybrid Electric Vehicles 35References 373 Hybrid Electric Vehicle System Modeling 383.1 Modeling of an Internal Combustion Engine 383.1.1 Cranking (Key Start) 393.1.2 Engine Off 413.1.3 Idle 413.1.4 Engine On 413.1.5 Engine Fuel Economy and Emissions 443.2 Modeling of an Electric Motor 483.2.1 Operation in the Propulsion Mode 483.2.2 Operation in the Regenerative Mode 493.2.3 Operation in Spinning Mode 493.3 Modeling of the Battery System 533.3.1 Modeling Electrical Behavior 543.3.2 SOC Calculation 563.3.3 Modeling Thermal Behavior 563.4 Modeling of the Transmission System 593.4.1 Modeling of the Clutch and Power Split Device 603.4.2 Modeling of the Torque Converter 673.4.3 Modeling of the Gearbox 693.4.4 Modeling of the Transmission Controller 703.5 Modeling of a Multi-mode Electrically Variable Transmission 733.5.1 Basics of One-mode ECVT 733.5.2 Basics of Two-mode ECVT 783.6 Lever Analogy as a Tool for ECVT Kinematic Analysis 853.6.1 Lever System Diagram Set-up 853.6.2 Lever Analogy Diagram for ECVT Kinematic Analysis 873.7 Modeling of the Vehicle Body 913.8 Modeling of the Final Drive and Wheel 923.8.1 Final Drive Model 923.8.2 Wheel Model 923.9 PID-based Driver Model 943.9.1 Principle of PID Control 953.9.2 Driver Model 96References 964 Power Electronics and Electric Motor Drives in Hybrid Electric Vehicles 974.1 Basic Power Electronic Devices 974.1.1 Diodes 984.1.2 Thyristors 994.1.3 Bipolar Junction Transistors (BJTs) 1014.1.4 Metal Oxide Semiconductor Field Effect Transistors (MOSFETs) 1034.1.5 Insulated Gate Bipolar Transistors (IGBTs) 1054.2 DC–DC Converters 1074.2.1 Basic Principle of a DC–DC Converter 1074.2.2 Step-down (Buck) Converter 1094.2.3 Step-up (Boost) Converter 1174.2.4 Step-down/up (Buck-boost) Converter 1214.2.5 DC–DC Converters Applied in Hybrid Electric Vehicle Systems 1254.3 DC–AC Inverters 1294.3.1 Basic Concepts of DC–AC Inverters 1294.3.2 Single-phase DC–AC Inverters 1344.3.3 Three-phase DC–AC Inverters 1374.4 Electric Motor Drives 1414.4.1 BLDC Motor and Control 1414.4.2 AC Induction Motor and Control 1524.5 Plug-in Battery Charger Design 1624.5.1 Basic Configuration of a PHEV/BEV Battery Charger 1624.5.2 Power Factor and Correcting Techniques 1644.5.3 Controls of a Plug-in Charger 168References 1685 Energy Storage System Modeling and Control 1695.1 Introduction 1695.2 Methods of Determining the State of Charge 1715.2.1 Current-based SOC Determination Method 1725.2.2 Voltage-based SOC Determination Method 1775.2.3 Extended Kalman-filter-based SOC Determination Method 1835.2.4 SOC Determination Method Based on Transient Response Characteristics (TRCs) 1865.2.5 Fuzzy-logic-based SOC Determination Method 1895.2.6 Combination of SOCs Estimated Through Different Approaches 1915.2.7 Further Discussion on SOC Calculations in Hybrid Electric Vehicle Applications 1925.3 Estimation of Battery Power Availability 1965.3.1 PNGV HPPC Power Availability Estimation Method 1985.3.2 Revised PNGV HPPC Power Availability Estimation Method 1995.3.3 Power Availability Estimation Based on the Electrical Circuit Equivalent Model 2005.4 Battery Life Prediction 2075.4.1 Aging Behavior and Mechanism 2075.4.2 Definition of the State of Life 2095.4.3 SOL Determination under Storage Conditions 2105.4.4 SOL Determination under Cycling Conditions 2145.4.5 Lithium Metal Plating Issue and Symptoms in Li-ion Batteries 2235.5 Cell Balancing 2245.5.1 SOC Balancing 2245.5.2 Hardware Implementation of Balancing 2245.5.3 Cell-balancing Control Algorithms and Evaluation 2275.6 Estimation of Cell Core Temperature 2365.6.1 Introduction 2365.6.2 Core Temperature Estimation of an Air-cooled, Cylinder-type HEV Battery 2375.7 Battery System Efficiency 241References 2426 Energy Management Strategies for Hybrid Electric Vehicles 2436.1 Introduction 2436.2 Rule-based Energy Management Strategy 2446.3 Fuzzy-logic-based Energy Management Strategy 2456.3.1 Fuzzy Logic Control 2466.3.2 Fuzzy-logic-based HEV Energy Management Strategy 2536.4 Determination of the Optimal ICE Operational Points of Hybrid Electric Vehicles 2616.4.1 Mathematical Description of the Problem 2616.4.2 Procedures of Optimal Operational Point Determination 2636.4.3 Golden Section Searching Method 2646.4.4 Finding the Optimal Operational Points 2656.4.5 Example of the Optimal Determination 2656.4.6 Performance Evaluation 2696.5 Cost-function-based Optimal Energy Management Strategy 2786.5.1 Mathematical Description of Cost-function-based Optimal Energy Management 2796.5.2 An Example of Optimization Implementation 2826.6 Optimal Energy Management Strategy Incorporated with Cycle Pattern Recognition 2826.6.1 Driving Cycle/Style Pattern Recognition Algorithm 2826.6.2 Determination of the Optimal Energy Distribution 285References 2877 Other Hybrid Electric Vehicle Control Problems 2887.1 Basics of Internal Combustion Engine Control 2887.1.1 SI Engine Control 2887.1.2 Diesel Engine Control 2897.2 Engine Torque Fluctuation Dumping Control Through the Electric Motor 2897.2.1 Sliding Mode Control 2937.2.2 Engine Torque Fluctuation Dumping Control Based on the Sliding Mode Control Method 2967.3 High-voltage Bus Spike Control 2987.3.1 Bang-Bang Control Strategy of Overvoltage Protection 3007.3.2 PID-based ON/OFF Control Strategy for Overvoltage Protection 3017.3.3 Fuzzy-logic-based ON/OFF Control Strategy for Overvoltage Protection 3017.4 Thermal Control of an HEV Battery System 3047.4.1 Combined PID Feedback with Feedforward Battery Thermal System Control Strategy 3067.4.2 Optimal Battery Thermal Control Strategy 3087.5 HEV/EV Traction Motor Control 3117.5.1 Traction Torque Control 3117.5.2 Anti-rollback Control 3137.6 Active Suspension Control in HEV/EV Systems 3137.6.1 Suspension System Model of a Quarter Car 3147.6.2 Active Suspension System Control 3187.7 Adaptive Charge-sustaining Setpoint and Adaptive Recharge SOC Determination for PHEVs 3257.7.1 Scenarios of Battery Capacity Decay and Discharge Power Capability Degradation 3267.7.2 Adaptive Recharge SOC Termination Setpoint Control Strategy 3267.8 Online Tuning Strategy of the SOC Lower Bound in CS Operational Mode 3337.8.1 PHEV Charge-sustaining Operational Characteristics 3337.8.2 PHEV Battery CS-operation SOC Lower Bound Online Tuning 3357.9 PHEV Battery CS-operation Nominal SOC Setpoint Online Tuning 3437.9.1 PHEV CS-operation Nominal SOC Setpoint Determination at BOL 3437.9.2 Online Tuning Strategy of PHEV CS-operation Nominal SOC Setpoint 345References 3478 Plug-in Charging Characteristics, Algorithm, and Impact on the Power Distribution System 3488.1 Introduction 3488.2 Plug-in Hybrid Vehicle Battery System and Charging Characteristics 3498.2.1 AC-120 Plug-in Charging Characteristics 3498.2.2 AC-240 Plug-in Charging Characteristics 3508.2.3 DC Fast-charging Characteristics 3538.3 Battery Life and Safety Impacts of Plug-in Charging Current and Temperature 3558.4 Plug-in Charging Control 3558.4.1 AC Plug-in Charge Control 3558.4.2 DC Fast-charging Control 3588.5 Impacts of Plug-in Charging on the Electricity Network 3608.5.1 Impact on the Distribution System 3608.5.2 Impact on the Electric Grid 3628.6 Optimal Plug-in Charging Strategy 3648.6.1 The Optimal Plug-in Charge Back Point Determination 3648.6.2 Cost-based Optimal Plug-in Charging Strategy 366References 3729 Hybrid Electric Vehicle Vibration, Noise, and Control 3739.1 Basics of Noise and Vibration 3739.1.1 Sound Spectra and Velocity 3739.1.2 Basic Quantities Related to Sound 3749.1.3 Frequency Analysis Bandwidths 3809.1.4 Basics of Vibration 3829.1.5 Basics of Noise and Vibration Control 3899.2 General Description of Noise, Vibration, and Control in Hybrid Electric Vehicles 3919.2.1 Engine Start/Stop Vibration, Noise, and Control 3929.2.2 Electric Motor Noise, Vibration, and Control 4009.2.3 Power Electronics Noise and Control 4059.2.4 Battery System Noise, Vibration, and Control 408References 41110 Hybrid Electric Vehicle Design and Performance Analysis 41210.1 Hybrid Electric Vehicle Simulation System 41210.2 Typical Test Driving Cycles 41410.2.1 Typical EPA Fuel Economy Test Schedules 41410.2.2 Typical Supplemental Fuel Economy Test Schedules 41810.2.3 Other Typical Test Schedules 42110.3 Sizing Components and Vehicle Performance Analysis 43010.3.1 Drivability Calculation 43110.3.2 Preliminary Sizing of the Main Components of a Hybrid Electric Vehicle 43310.4 Fuel Economy, Emissions, and Electric Mileage Calculation 45410.4.1 Basics of Fuel Economy and Emissions Calculation 45410.4.2 EPA Fuel Economy Label Test and Calculation 45710.4.3 Electrical Energy Consumption and Miles per Gallon Gasoline Equivalent Calculation 463References 478Appendix A 480Appendix B 520Index 553