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Hybrid Electric Vehicles Energy Management Strategies.pdf

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    Preface
    Acknowledgments
    Contents
    Symbols
    1 Introduction
    1.1 Hybrid Electric Vehicles
    1.2 HEV Architectures
    1.3 Energy Analysis of Hybrid Electric Vehicles
    1.4 Book Structure
    References
    2 HEV Modeling
    2.1 Introduction
    2.2 Modeling for Energy Analysis
    2.3 Vehicle-Level Energy Analysis
    2.3.1 Equations of Motion
    2.3.2 Forward and Backward Modeling Approaches
    2.3.3 Vehicle Energy Balance
    2.3.4 Driving Cycles
    2.4 Powertrain Components
    2.4.1 Internal Combustion Engine
    2.4.2 Torque Converter
    2.4.3 Gear Ratios and Mechanical Gearbox
    2.4.4 Planetary Gear Sets
    2.4.5 Wheels, Brakes, and Tires
    2.4.6 Electric Machines
    2.4.7 Batteries
    2.4.8 Engine Accessories and Auxiliary Loads
    References
    3 The Energy Management Problem in HEVs
    3.1 Introduction
    3.2 Energy Management of Hybrid Electric Vehicles
    3.3 Classification of Energy Management Strategies
    3.4 The Optimal Control Problem in Hybrid Electric Vehicles
    3.4.1 Problem Formulation
    3.4.2 General Problem Formulation
    References
    4 Dynamic Programming
    4.1 Introduction
    4.2 General Formulation
    4.3 Application of DP to the Energy Management Problem in HEVs
    4.3.1 Implementation Example
    References
    5 Pontryagin's Minimum Principle
    5.1 Introduction
    5.2 Minimum Principle for Problems with Constraints on the State
    5.2.1 On the System State Boundaries
    5.2.2 Notes on the Minimum Principle
    5.3 Pontryagin's Minimum Principle for the Energy Management Problem in HEVs
    5.3.1 Power-Based PMP Formulation
    5.4 Co-State λ and Cost-to-Go Function
    References
    6 Equivalent Consumption Minimization Strategy
    6.1 Introduction
    6.2 ECMS-Based Supervisory Control
    6.3 Equivalence Between Pontryagin's Minimum Principle and ECMS
    6.4 Correction of Fuel Consumption to Account for SOC Variation
    6.5 Historical Note: One of the First Examples of ECMS Implementation
    References
    7 Adaptive Optimal Supervisory Control Methods
    7.1 Introduction
    7.2 Review of Adaptive Supervisory Control Methods
    7.2.1 Adaptation Based on Driving Cycle Prediction
    7.2.2 Adaptation Based on Driving Pattern Recognition
    7.3 Adaptation Based on Feedback from SOC
    7.3.1 Analysis and Comparison of A-PMP Methods
    7.3.2 Calibration of Adaptive Strategies
    References
    8 Case Studies
    8.1 Introduction
    8.2 Parallel Architecture
    8.2.1 Powertrain Model
    8.2.2 Optimal Control Problem Solution
    8.2.3 Model Implementation
    8.2.4 Simulation Results
    8.3 Power-Split Architecture
    8.3.1 Powertrain Model
    8.3.2 Optimal Control Problem Solution
    8.3.3 Model Implementation
    8.3.4 Simulation Results
    References
    Series Editors' Biographies
    SPRINGER BRIEFS IN ELECTRICAL AND COMPUTER ENGINEERING  CONTROL, AUTOMATION AND ROBOTICS Simona Onori Lorenzo Serrao Giorgio Rizzoni Hybrid Electric Vehicles Energy Management Strategies 123
    SpringerBriefs in Electrical and Computer Engineering Control, Automation and Robotics Series editors Tamer Başar Antonio Bicchi Miroslav Krstic
    More information about this series at http://www.springer.com/series/10198
    Simona Onori Lorenzo Serrao Giorgio Rizzoni Hybrid Electric Vehicles Energy Management Strategies 123
    Simona Onori Automotive Engineering Department Clemson University Greenville, SC USA Lorenzo Serrao Dana Mechatronics Technology Center Dana Holding Corporation Rovereto Italy Giorgio Rizzoni Department of Mechanical and Aerospace Engineering and Center for Automotive Research The Ohio State University Columbus, OH USA ISSN 2191-8120 ISSN 2191-8112 SpringerBriefs in Electrical and Computer Engineering ISSN 2192-6786 ISSN 2192-6794 SpringerBriefs in Control, Automation and Robotics ISBN 978-1-4471-6779-2 DOI 10.1007/978-1-4471-6781-5 (electronic) (electronic) ISBN 978-1-4471-6781-5 (eBook) Library of Congress Control Number: 2015952754 Springer London Heidelberg New York Dordrecht © The Author(s) 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. trademarks, service marks, etc. Printed on acid-free paper Springer-Verlag London Ltd. is part of Springer Science+Business Media (www.springer.com)
    To my parents, Gianni and Pina —Simona Onori To my parents, Salvatore and Silvana To my family —Lorenzo Serrao —Giorgio Rizzoni
    Preface The origin of hybrid electric vehicles dates back to 1899, when Dr. Ferdinand Porsche, then a young engineer at Jacob Lohner & Co, built the first hybrid vehicle [1], the Lohner-Porsche gasoline-electric Mixte. After Porsche, other inventors proposed hybrid vehicles in the early twentieth century, but then the internal combustion engine technology improved significantly and hybrid vehicles, much like battery-electric vehicles, disappeared from the market for a long time. Nearly a century later, hybrid powertrain concepts returned strongly, in the form of many research prototypes but also as successful commercial products: Toyota launched the Prius—the first purpose-designed and -built hybrid electric vehicle—in 1998, and Honda launched the Insight in 1999. What made the new generation of hybrid vehicles more successful than their ancestors was the com- pletely new technology now available, especially in terms of electronics and control systems to coordinate and exploit at best the complex subsystems interacting in a hybrid vehicle. Substantial support to research in this field was provided by gov- ernment initiatives, such as the US Partnership for a New Generation of Vehicles (PNGV) [2], which involved DaimlerChrysler, Ford Motor Company, and General Motors Corporation. PNGV provided the opportunity for many research projects to be carried out in collaborations among the automotive companies, their suppliers, national laboratories, and universities. The material assembled in this book is an outgrowth of the experience that the authors gained while working together at the Ohio State University Center for Automotive Research, one of the PNGV academic labs, which has been engaged in programs focused on the development of vehicle prototypes and on the development of energy management strategies and algo- rithms since 1995. Energy management strategies are necessary to achieve the full potential of hybrid electric vehicles, which can reduce fuel consumption and emissions in comparison to conventional vehicles, thanks to the presence of a reversible energy storage device and one or more electric machines. The presence of an additional energy storage device gives rise to new degrees of freedom, which in turn translate into the need of finding the most efficient way of splitting the power demand vii
    viii Preface between the engine and the battery. The energy management strategy is the control layer to which this task is demanded. Despite many articles on hybrid electric vehicles system, control, and opti- mization, there has not been a book that systematically discusses deeper aspects of the model-based design of energy management strategies. Thus, the aim of this book is to present a systematic model-based approach and propose a formal framework to cast the energy management problem using optimal control theory tools and language. The text focuses on the development of model-based supervisory controller when the fuel consumption is being minimized. It does not consider other cost functions, such as pollutant emissions or battery aging. Drivability issues such as noise, harshness, and vibrations are neglected as well as heuristic supervisory controllers design. The aim is to provide an adequate presentation to meet the ever-increasing demand for engineers to look for rigorous methods for hybrid electric vehicles analysis and design. We hope that this book will be suitable to educate mechanical and electrical engineering graduate students, professional engineers, and practitioners on the topic of hybrid electric vehicle control and optimization. Acknowledgments We are extremely grateful to all our colleagues for the fruitful discussions on the topics discussed in this book. We are also grateful to Springer editorial staff for their support and patience. August 2015 References Simona Onori Lorenzo Serrao Giorgio Rizzoni 1. Hybrid cars. (Online). Available http://www.hybridcars.com/history/history-of-hybrid-vehicles. html 2. F. Matter, Review of the research program of the partnership for a new generation of vehicles: Seventh report, Washington, DC: The National Academies Press, Tech. Rep. (2001)
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