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This page provides the steps on how to model a parallel hybrid vehicle, it has been documented in such a way that first time user can recreate the simulation from the beginning.
The reference result of this particular vehicle has been uploaded so that the user can compare their own simulation.
To learn more about how to create a simple model, go to ADVANCE Tutorial
All the component modules which are going to be used in this example can be downloaded from SIMarchitect Library.
The model is split into four different areas. Those are:
To create the ECU subsystem:
The components of parallel hybrid vehicle powertrain are:
To create the Plant_model subsystem:
To create driver subsystem:
The signal inputs for ECU_module inside the ECU subsystem are:
Input signal | Signal in | 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 |
The input signals for each component modules inside Plant_model subsystem are:
ICE module
Input signal | Signal in | 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 | Signal in | 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 | Signal in | 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 | Electric_machine_module → Electric_machine_mechanical_output | phys_torque_Nm | |
Mechanical connection inertia input 2 | phys_inertia_kgm2 | ||
Mechanical connection feedback input | Transmission_module → Transmission_mechanical_fb_output | phys_speed_radps |
Transmission module
Input signal | Signal in | 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 | Signal in | 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 | Signal in | Located under | Signal label |
---|---|---|---|
Requested chassis brake torque | ECU | ECU_module → cmd | Chassis_tqBrake_Nm |
Chassis torque input | plnt_model | Final_gear_module → Final_gear_mechanical_output | phys_torque_Nm |
Chassis inertia input | phys_inertia_kgm2 | ||
Drivecycle slope | Test_scenario | Test_scenario | drivecycle_time_slope |
Battery module
Input signal | Signal in | 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 | Signal in | 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 | Signal in | Located under | Signal label |
---|---|---|---|
Requested power | ECU | ECU_module → cmd | Aux_pwrElecReq_W |
Voltage input | plnat_model | Battery_module → Battery_electrical_output | phys_voltage_V |
The input signals for Vehicle_driver_manual_module inside the Driver subsystem are:
Input signal | Signal in | 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 |
There are several settings which has to be changed on simulink, those are:
Settings | Value |
---|---|
Time | 1800 [s] |
Fixed - step size | 0.01 |
Solver type | ode3 (Bogacki - shampine) |
The sequence of running the simulation:
The output from each individual module can be plotted using the Results Plot GUI.
Use these Simulation Results to do graphical validation.
The simulation results of the parallel hybrid vehicle are as follows:
Module | Result |
---|---|
Internal Combustion Engine | |
Clutch | |
Mechanical connection | |
Transmission | |
Final gear | |
Chassis | |
Battery | |
Electric Machine | |
Electrical Auxiliary system |