Modeling and Simulation of Vehicular Power Systems - webfiles its ...

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AbstractRegarding limitation of fossil fuels and the high consumption rate of this energy fortransportation, inclination of vehicle industry toward other sources of energy isinevitable. Electric vehicles and hybrid vehicles could be a good solution. Thanks to thestate of art electric motors, power electronics, embedded power train controller, energystorage systems like batteries and ultra capacitors, the performance of the vehicle couldbecome more and more energy efficient. Since the integrating of all these components ina drive train configuration could be a challenge for the manufacturer, computersimulation and modeling before prototyping could be really beneficial in terms of cost,safety and design performance. In this thesis some of the principles of modeling andsimulation are discussed. The main components in hybrid vehicles are modeled anddifferent methods of modeling are discussed. As battery plays a significant role in electricand hybrid vehicles, modeling of it is of importance. In this thesis some of the methods tomodel Lead-acid and Lithium-ion battery are introduced. Some tests in order to find theinternal parameters of the battery are explained and based on the data from the tests aLithium-ion battery is modeled in Simulink/Matlab. The dynamics of the vehicle in termsof longitudinal and lateral forces are discussed and a model representing the phenomenonof wheel slip is developed in Simulink. Modeling of engine and electric motors isexplained. Having models in Matlab/Simulink, a series hybrid drive train includingbatteries, motor, generator, vehicle dynamics and control system is simulated. Given thedata from the test data from a series hybrid bus manufactured by the New FlyerCompany, the performance of the vehicle in terms of fuel economy, acceleration andmaximum cruise speed is analyzed. The behavior of different components is alsodiscussed. Finally, comparing the simulation results with test data, it is shown thatmodeling and simulation could be really helpful in design process. The battery model wasverified with measurements and is proved to have a good accuracy.iv
Table of ContentsAcknowledgment..........................................................................................iiiSiavash Zoroofi ............................................................................................iiiMarch 2008, Goteborg, Sweden .................................................................iiiAbstract......................................................................................................... ivTable of Contents .......................................................................................... vList of Tables ................................................................................................ ixList of Symbols .............................................................................................. x1 Introduction............................................................................................ 11.1 Objective of the thesis......................................................................................... 11.2 Thesis outline...................................................................................................... 12 Background............................................................................................. 32.1 Hybrid Electric Vehicles..................................................................................... 32.2 Hybrid Vehicles as an Alternative Solution........................................................ 42.3 Simulation of Hybrid Vehicles ........................................................................... 52.4 Hybrid Vehicles Drive Trains............................................................................. 62.4.1 Series Hybrid Vehicles ............................................................................... 72.4.2 Parallel Hybrid Vehicles............................................................................. 93 Simulation and Modeling Principles.................................................. 113.1 Physics Based Modeling................................................................................... 123.2 Numerical Integration Methods ........................................................................ 134 Vehicle Dynamics Modeling................................................................ 154.1 Wheel Dynamics and Wheel slip...................................................................... 174.1.1 Normal load on each wheel....................................................................... 204.1.2 Friction coefficient and slip modeling ...................................................... 204.2 Transmission..................................................................................................... 225 Battery Modeling ................................................................................. 245.1 Electrochemical battery models........................................................................ 245.1.1 Peukert equation........................................................................................ 245.1.2 Battery capacity and discharge current..................................................... 255.2 Shepherd Model Equation................................................................................. 265.3 Unnewehr Universal Model.............................................................................. 265.4 EQUIVALENT CIRCUIT BATTERY MODELS ........................................... 275.4.1 Thevenin battery model ............................................................................ 275.4.2 Linear dynamic model .............................................................................. 295.4.3 Nonlinear dynamic model......................................................................... 295.5 Thermal modeling of the battery....................................................................... 315.6 Parameters measurement .................................................................................. 325.6.1 Open circuit voltage.................................................................................. 325.6.2 Charging and Discharging Resistances..................................................... 335.6.3 Capacitor................................................................................................... 355.6.4 Battery capacity ........................................................................................ 366 Engine, electric machine and control system modeling ................... 37v
Page 1: AhaModeling and Simulation of Vehic
Page 4: To my parents, brother and my love
Page 9 and 10: List of FiguresFigure 2-1: Oil cons
Page 11: List of TablesTable 3-1 List of som
Page 14 and 15: xii
Page 16 and 17: Chapter 4 discusses the dynamics of
Page 18 and 19: The Other environmental effects of
Page 20 and 21: So a modeling tool being able to de
Page 22 and 23: electric motor to provide the tract
Page 24 and 25: Figure 2-8: Configuration of a para
Page 26 and 27: Vehicle system modeling can be done
Page 28 and 29: Figure 3-2: EMTS solution flow-char
Page 30 and 31: Figure 4-2: The deflection of tyre
Page 32: V −Vwheel actualλa=( 4-9)VwheelV
Page 35 and 36: Figure 4-5 Friction coefficient cha
Page 37 and 38: The gear box consists of different
Page 39 and 40: Where• I = discharge current [amp
Page 41 and 42: decreases very rapidly. In electric
Page 43 and 44: Thus, this simulation model is capa
Page 45 and 46: VOCRchargeRdischargeSOCTempSOCQmaxT
Page 47 and 48: Figure 5-8 Battery open circuit vol
Page 49 and 50: Figure 5-11 Charging resistance ver
Page 51 and 52: 6 Engine, electric machine and cont
Page 53 and 54: 4 Idle speed 840 rpm5 Peak power 15
Page 55 and 56:
7 Modeling in Simulink/MatlabOnce t
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Figure 7-3 Vehicle dynamics block i
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7.3 EngineAs described in Chapter 5
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Figure 7-7 Automatic driver model b
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8 Simulation ResultsIn this chapter
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Peak generator torque1074 N.mPeak g
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Figure 8-5 Wheel speed and translat
Page 69 and 70:
Figure 8-7 Engine and generator pow
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Figure 8-9 Battery state of charge
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9 ConclusionRegarding the significa
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References[1] Shuo Tian, Guijun Cao
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