Difference between revisions of "E-trailer"
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This page provides the steps on how to model e-trailer project from e-Traction. The e-trailer project is a concept project from e-Traction in which e-trailer is a normal trailer that has an electric motor mounted to one of its axle.
The ultimate goal of this project is to increase energy efficiency [kWh/km], which leads to reducing operating cost.
The model is split into four different areas. Those are:
A simple control algorithm has been developed and implemented into the e - trailer model in order to control the energy distribution between the Internal Combustion Engine and the Electric Machine. The control algorithm used the accelerator and brake pedal position to determine the demanded torque by the vehicle so that it can follow the desired driving cycle. The amount of throttle and brake required was calculated by the driver model. The required gear number for a certain moment was calculated by the gear shift logic that located inside the driver model. The electric machine is used together with the I.C.E. to achieve the demanded torque when the ECU determined that the demanded torque is above the maximum capability of what the engine can supply. If the state of charge of the battery is lower than the minimum charge value, the electric machine will be used as a generator to charge the battery during braking motion. The electric machine is also used to brake the vehicle when possible, however, mechanical brakes will be used when the braking torque from the electric machine is not sufficient.
To create the ECU subsystem:
To create the Plant_model subsystem:
All of the components can be found in the downloaded SIMarchitect library, under component library → automotive → HDH - HiLS → chassis or powertrain and they are all color coded
The components used for the truck group:
The components used for the trailer group:
Battery current subsystem
Notice that there are 2 extra subsystems located at the right-hand side of the e - trailer plant model figure.
The Battery current subsystem is created as follows:
Combine torque and inertia subsystem The Combine torque and inertia subsystem is created as follows:
Next, connect the output ports of the created subsystems to the sub_connector, to do this:
The e-trailer project use manual transmission, therefore the driver manual module will be used as the driver model.
To create driver subsystem:
To assign the signal input for ECU module:
Note: Be aware that the signal shown in the bus selector prompt might not be in the same order as it is shown in the table below.
The signals should be assigned according to the order shown in the table below. Otherwise, the simulation will give an error and not run.
Input signal | Located under | Signal label | |
---|---|---|---|
Accelerator pedal position | Driver | vehicle_driver_manual_module → Driver | Drv_AccPedl_Rt |
Brake pedal position | Drv_BrkPedl_Rt | ||
Drive cycle reference speed | Drivecycle_RefSpeed_mps | ||
Clutch pedal position | Drv_CluPedl_Rt | ||
Requested gear number | Drv_nrGearReq | ||
Actual engine speed | Plant_model | ICE_module → ICE_sensor | Eng_nAct_radps |
Crankshaft torque | Eng_tqCrkSftAct_Nm | ||
Indicated torque | Eng_tqindAct_Nm | ||
Engine oil temperature | Eng_tOilAct_K | ||
Battery output current | Battery_module → Battery_sensor | Batt_iAct_A | |
Battery output voltage | Batt_uAct_V | ||
State of charge | Batt_socAct_Rt | ||
Battery temperature | Batt_tAct_K | ||
Clutch disengaged or not | Clutch_module → Clutch_sensor | Clu_flgConnected_B | |
Electric machine output torque | Electric_machine_module → Electric_machine_sensor | ElecMac_tqAct_Nm | |
Electric machine output speed | ElecMac_nAct_radps | ||
Electric machine output current | ElecMac_iAct_A | ||
Electric machine output temperature | ElecMac_tAct_K | ||
Transmission output speed | Transmission_module → Transmission_sensor | Transm_nOutAct_radps | |
Transmission gear number | Transm_nrGearAct | ||
Clutch lock | Transm_flgConnected_B | ||
Transmission input speed | Transm_nInAct_radps | ||
Vehicle velocity | Chassis_module → Chassis_sensor | Chassis_vVehAct_mps | |
Wheel speed | Chassis_nWheelAct_radps | ||
Vehicle mass | Chassis_massVehAct_kg | ||
Road slope | Chassis_slopeRoad_rad | ||
Auxiliary system output current | Electrical_aux_system_module → Electrical_aux_sensor | Aux_iAct_A |
To assign the signal input for each component module:
Note: Be aware that the signal shown in the bus selector prompt might not be in the same order as it is shown in the table below.
The signals should be assigned according to the order shown in the table below. Otherwise, the simulation will give an error and not run.
ICE module
Input signal | Located under | Signal label | |
---|---|---|---|
Requested engine speed | ECU | ECU_module → cmd | Eng_nReq_radps |
Switch Speed / torque control | Eng_flgReqSwitch_B | ||
Requested engine torque | Eng_tqReq_Nm | ||
Exhaust brake ON / OFF | Eng_flgExhaustBrake_B | ||
Engine ON / OFF | Eng_flgonoff_B | ||
Starter motor ON / OFF | Eng_flgstrtrReq_B | ||
Fuel cut off | Eng_flgFuelCut_B | ||
Engine rotational speed | Plant_model | Clutch_module → clutch_mechanical_fb_output | phys_speed_radps |
Clutch module
Input signal | Located under | Signal label | |
---|---|---|---|
Requested clutch pedal position | ECU | ECU_module → cmd | Clu_ratReq_B |
Clutch torque input | plant_model | ICE_module → ICE_mechanical output | phys_torque_Nm |
Clutch inertia input | phys_inertia_kgm2 | ||
Clutch rotational speed input | Mechanical_connection_module → MC_mechanical_fb_output1 | phys_speed_radps |
Mechanical connection module
Input signal | Located under | Signal label | |
---|---|---|---|
Mechanical connection torque input 1 | plant_model | Clutch_module → clutch_mechanical_output | phys_torque_Nm |
Mechanical connection inertia input 1 | phys_inertia_kgm2 | ||
Mechanical connection torque input 2 | one | - | one |
Mechanical connection inertia input 2 | one | ||
Mechanical connection feedback input | plant_model | Transmission_module → Transmission_mechanical_fb_output | phys_speed_radps |
Transmission module
Input signal | Located under | Signal label | |
---|---|---|---|
Requested gear number | ECU | ECU_module → cmd | Transm_nrGearReq |
Transmission torque input | plant_model | Mechanical_connection_module → MC_mechanical_output | phys_torque_Nm |
Transmission inertia input | phys_inertia_kgm2 | ||
Transmission rotational speed input | Final_gear_module → Final_gear_mechanical fb output | phys_speed_radps |
Final gear module
Input signal | Located under | Signal label | |
---|---|---|---|
Final gear torque input | plant_model | Transmission_module → Transmission_mechanical_output | phys_torque_Nm |
Final gear inertia input | phys_inertia_kgm2 | ||
Final gear rotational speed input | Chassis_module → Chassis_mechanical_fb_output | phys_speed_radps |
Chassis module
Input signal | Located under | Signal label | |
---|---|---|---|
Requested chassis brake torque | ECU | ECU_module → cmd | Chassis_tqBrake_Nm |
Chassis torque input | plant_model | - | Total_vehicle_torque |
Chassis inertia input | Total_vehicle_inertia | ||
Drivecycle slope | Test_scenario | Test_scenario | drivecycle_time_slope |
Battery module
Input signal | Located under | Signal label | |
---|---|---|---|
Battery current input | plant_model | plant_model | battery_Current_Input |
Battery Actual cooling flow | ECU | ECU_module → cmd | Batt_flowActCooling_kgps |
Electric machine module
Input signal | Located under | Signal label | |
---|---|---|---|
Requested electric machine speed | ECU | ECU_module → cmd | ElecMac_nReq_radps |
Switch speed / torque control | ElecMac_flgReqSwitch_B | ||
Requested electric machine torque | ElecMac_tqReq_Nm | ||
Electric machine actual cooling flow | ElecMac_flowActCooling_kgps | ||
Electric machine voltage input | plant_model | Battery_module → Battery_electrical output | phys_voltage_V |
Electric machine rotational speed input | Mechanical_connection_module → MC_mechanical_join_output2 | phys_speed_radps |
Electrical aux system module
Input signal | Located under | Signal label | |
---|---|---|---|
Requested power | ECU | ECU_module → cmd | Aux_pwrElecReq_W |
Voltage input | plant_model | Battery_module → Battery_electrical_output | phys_voltage_V |
To assign the signal input for Vehicle driver module:
Note: Be aware that the signal shown in the bus selector prompt might not be in the same order as it is shown in the table below.
The signals should be assigned according to the order shown in the table below. Otherwise, the simulation will give an error and not run.
Input signal | Located under | Signal label | |
---|---|---|---|
Actual vehicle velocity | plant_model | Chassis_module → Chassis_sensor | Chassis_vVehAct_mps |
Transmission input speed | Transmission_module → Transmission_sensor | Transm_nInAct_radps | |
Transmission actual gear number | Transm_nrGearAct | ||
Clutch disengaged or not | Clutch_module → clutch_sensor | Clu_flgConnected_B | |
Accelerator pedal rate | Driver | vehicle_driver_manual_module → Driver | Drv_AccPedl_Rt |
Drive cycle time and speed | Test_scenario | Test_scenario | drivecycle_time_speed |
The simulation settings for e-trailer project:
Settings | Value |
---|---|
Time | 1800 [s] |
Fixed - step size | 0.01 |
Solver type | ode3 (Bogacki - shampine) |
Use this parameter files for the e - trailer simulation.
Before running the simulation, load the downloaded parameter into the created e - trailer project, this can be done by double-clicking the parameter setting button located on the top level layout of SIMarchitect and select the directory of where does the downloaded parameter file is located.
The sequence of running the simulation:
The output from each individual module can be plotted using the Results Plot GUI.
For more information regarding the specification of the battery and electric motor please contact e-Traction
e-Traction Europe B.V.
Watermanstraat 40
7324 AH Apeldoorn
The Netherlands
Phone: +31 55 52 11111
E-mail: info@e-traction.com
Based on the simulation result, the comparison in terms of energy consumption [kWh/km] can be made.
The energy consumption was calculated by using the following equation:
with:
Vehicle configurations | Average fuel consumption [kg/s] | Average fuel consumption [L/km] | Average energy consumption [kWh/km] |
---|---|---|---|
Electric motor is in-operational | 0.0058 | 0.6328 | 6.68 |
Electric motor is operational | 0.0053 | 0.5782 | 6.09 |
The improvement in average energy consumption was calculated to be 8.62 %
The fuel consumption comparison plot can be seen in the figure below. The green circles indicate that the fuel consumption is higher when the electric motor is in-operational.