一个基于matlab的建模与仿真软件包的电动和混合动力电动汽车的设

1770IEEETRANSACTIONSONVEHICULARTECHNOLOGY,VOL.48,NO.6,NOVEMBER1999

AMatlab-BasedModelingandSimulationPackageforElectricandHybridElectricVehicleDesign

KarenL.Butler,Member,IEEE,MehrdadEhsani,Fellow,IEEE,PreyasKamath,Member,IEEE

Abstract—ThispaperdiscussesasimulationandmodelingpackagedevelopedatTexasA&MUniversity,V-Elph2.01.V-Elphfacilitatesin-depthstudiesofelectricvehicle(EV)andhybridEV(HEV)con gurationsorenergymanagementstrate-giesthroughvisualprogrammingbycreatingcomponentsashierarchicalsubsystemsthatcanbeusedinterchangeablyasembeddedsystems.V-Elphiscomposedofdetailedmodelsoffourmajortypesofcomponents:electricmotors,internalcombustionengines,batteries,andsupportcomponentsthatcanbeintegratedtomodelandsimulatedrivetrainshavingallelectric,serieshybrid,andparallelhybridcon gurations.V-ElphwaswrittenintheMatlab/Simulinkgraphicalsimulationlanguageandisportabletomostcomputerplatforms.

ThispaperalsodiscussesthemethodologyfordesigningvehicledrivetrainsusingtheV-Elphpackage.AnEV,aseriesHEV,aparallelHEV,andaconventionalinternalcombustionengine(ICE)drivendrivetrainhavebeendesignedusingthesimulationpackage.Simulationresultssuchasfuelconsumption,vehicleemissions,andcomplexityarecomparedanddiscussedforeachvehicle.

IndexTerms—Electricvehicle,hybridelectricvehicle,model-ing,simulation.

I.INTRODUCTION

RESENTLY,onlyelectricandlow-emissionshybridve-hiclescanmeetthecriteriaoutlinedintheCaliforniaAirRegulatoryBoard(CARB)regulationswhichrequireapro-gressivelyincreasingpercentageofautomobilestobeultraloworzeroemissionsbeginningintheyear1998[1].Thoughpurelyelectricvehicles(EV’s)areapromisingtechnologyforthelong-rangegoalofenergyef ciencyandreducedatmosphericpollution,theirlimitedrangeandlackofsup-portinginfrastructuremayhindertheirpublicacceptance[2].Hybridvehiclesofferthepromiseofhigherenergyef ciencyandreducedemissionswhencomparedwithconventionalautomobiles,buttheycanalsobedesignedtoovercometherangelimitationsinherentinapurelyelectricautomobilebyutilizingtwodistinctenergysourcesforpropulsion.Withhybridvehicles,energyisstoredasapetroleumfuelandinanelectricalstoragedevice,suchasabatterypack,andiscon-vertedtomechanicalenergybyaninternalcombustionengine(ICE)andelectricmotor,respectively.Theelectricmotoris

ThisworkwassupportedbytheTexasHigherEducationCoordinatingBoardAdvancedTechnologyProgram(ATP),TexasA&MUniversityOf ceoftheVicePresidentforResearch,andAssociateProvostforGraduateStudiesthroughtheCenterforEnergyandMineralResourcesandtheTexasTransportationInstitute.

K.L.ButlerandM.EhsaniarewiththeDepartmentofElectricalEngineer-ing,TexasA&MUniversity,CollegeStation,TX77843-3128USA.P.KamathiswiththeMotorola,Inc.,Schaumburg,ILUSA.PublisherItemIdenti erS0018-9545(99)09279-8.

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usedtoimproveenergyef ciencyandvehicleemissionswhiletheICEprovidesextendedrangecapability.Thoughmanydifferentarrangementsofpowersourcesandconvertersarepossibleinahybridpowerplant,thetwogenerallyacceptedclassi cationsareseriesandparallel[3].

Computermodelingandsimulationcanbeusedtoreducetheexpenseandlengthofthedesigncycleofhybridvehiclesbytestingcon gurationsandenergymanagementstrategiesbeforeprototypeconstructionbegins.Interestinhybridvehiclesimulationgrewinthe1970’swiththedevelopmentofseveralprototypesthatwereusedtocollectaconsiderableamountoftestdataontheperformanceofhybriddrivetrains[4].Studieswerealsoconductedtoanalyzehybridelectricvehicle(HEV)concepts[5]–[11].Severalcomputerprogramshavesincebeendevelopedtodescribetheoperationofhybridelectricpowertrains,including:simpleEVsimulation(SIMPLEV)fromtheDOE’sIdahoNationalLaboratory[12],MARVELfromArgonneNationalLaboratory[13],CarSimfromAeroViron-mentInc.,JANUSfromDurhamUniversity[14],ADVISORfromtheDOE’sNationalRenewableEnergyLaboratory[15],VehicleMissionSimulator[16],andothers[17],[18].Aprevioussimulationmodel(ELPH)developedatTexasA&MUniversitywasusedtostudytheviabilityofanelectricallypeakingcontrolschemeandtodeterminetheapplicabilityofcomputermodelingtohybridvehicledesign[19],butwasessentiallylimitedtoasinglevehiclearchitecture.OtherworkconductedbythehybridvehicledesignteamatTexasA&MUniversityisreportedinpapersbyEhsanietal.[20]–[24].V-Elph[25],[26]isasystem-levelmodeling,simulation,andanalysispackagedevelopedatTexasA&MUniversityusingMatlab/Simulink[27]tostudyissuesrelatedtoEVandHEVdesignsuchasenergyef ciency,fueleconomy,andvehicleemissions.V-Elphfacilitatesin-depthstudiesofpowerplantcon gurations,componentsizing,energymanagementstrategies,andtheoptimizationofimportantcomponentpa-rametersforseveraltypesofhybridorelectriccon gurationorenergymanagementstrategy.Itusesvisualprogrammingtechniques,allowingtheusertoquicklychangearchitectures,parameters,andtoviewoutputdatagraphically.Italsoin-cludesdetailedmodelsthatweredevelopedatTexasA&MUniversityofelectricmotors,internalcombustionengines,andbatteries.

Thispaperdiscussesthemethodologyfordesigningsystem-levelvehiclesusingtheV-Elphpackage.AnEV,aseriesHEV,aparallelEV,andaconventionalICEdrivendrivetrainhavebeendesignedusingthesimulationpackage.Thesimulationresultsarecomparedanddiscussedforeachvehicle.

0018–9545/99$10.00©1999IEEE

BUTLERetal.:MATLAB-BASEDMODELINGANDSIMULATIONPACKAGE

Fig.1.System-levelrepresentationofageneralvehicledrivetraininV-Elph.

II.DRIVETRAINDESIGNMETHODOLOGY

SeverallevelsofdepthareavailableinV-Elphtoallowuserstotakeadvantageofthefeaturesthatinterestthem.Atthemostbasiclevel,ausercanrunsimulationstudiesbyselectinganEV,series,orparallelhybridvehicle,orconventionalvehicledrivetrainmodelprovidedanddisplaytheresultsusingthegraphicalplottingtools.Inadditiontobeingabletochangethedrivecycleandtheconditionsunderwhichthevehicleoperates,theusercanswitchcomponentsinandoutofavehiclemodeltotrydifferenttypesofengines,motors,andbatterymodels.Theusercanalsochangevehiclecharacteristicssuchassizeandweight,gearratios,andthesizeofthecomponentsthatmakeupthedrivetrain.

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