E-trailer
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.
Contents
Creating the simulation
All of the component modules used in this simulations can be downloaded here.
For this simulation, use these (e-trailer parameter files) (do not forget to modified parameter file).
The first step in creating this simulation is to insert three empty_area components from TNO ADVANCE. This step is the same as creating the example simulation for Parallel Hybrid vehicle simulation. Click here to learn more.
Test scenario
The drive cycle that will be used for this simulation is the so-called WHVC (World Harmonized Vehicle Cycle).
To get the same result as the simulation result presented below, do not change any global surrounding environment variable inside the parameter_main file.
ECU
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.
The input signals to the ECU modules are:
| Subsystem | Input signal | Signal label | Retrieved from |
|---|---|---|---|
| Driver | Accelerator pedal position | Drv_AccPedl_Rt | Driver manual module sensor |
| Brake pedal position | Drv_BrkPedl_Rt | ||
| Drive cycle reference speed | Drivecycle_RefSpeed_mps | ||
| Clutch pedal position | Drv_CluPedl_Rt | ||
| Requested gear number | Drv_nrGearReq | ||
| Plant model | Actual engine speed | Eng_nAct_radps | Engine module sensor |
| Crankshaft torque | Eng_tqCrkSftAct_Nm | ||
| Indicated torque | Eng_tqindAct_Nm | ||
| Engine oil temperature | Eng_tOilAct_K | ||
| Battery output current | Batt_iAct_A | Battery module sensor | |
| Battery output voltage | Batt_uAct_V | ||
| State of charge | Batt_socAct_Rt | ||
| Battery temperature | Batt_tAct_K | ||
| Clutch disengaged or not | Clu_flgConnected_B | Clutch module sensor | |
| Electric machine output torque | ElecMac_tqAct_Nm | Electric machine module sensor | |
| Electric machine output speed | ElecMac_nAct_radps | ||
| Electric machine output current | ElecMac_iAct_A | ||
| Electric machine output temperature | ElecMac_tAct_K | ||
| Transmission output speed | Transm_nOutAct_radps | Transmission module sensor | |
| Transmission gear number | Transm_nrGearAct | ||
| Clutch lock | Transm_flgConnected_B | ||
| Transmission input speed | Transm_nInAct_radps | ||
| Vehicle velocity | Chassis_vVehAct_mps | Chassis module sensor | |
| Wheel speed | Chassis_nWheelAct_radps | ||
| Vehicle mass | Chassis_massVehAct_kg | ||
| Road slope | Chassis_slopeRoad_rad | ||
| Auxiliary system output current | Aux_iAct_A | Electrical auxiliary module sensor |
Plant model
The plant model for e-trailer project is split up into two group, those are the truck and the trailer.
The vehicle topology for e-trailer is similar to the Parallel Hybrid vehicle example. However, the electric motor in e-trailer is connected to the trailer wheel while the Parallel Hybrid vehicle connects the electric motor to the mechanical gear which connects both engine and electric motor together.
(insert vehicle e-trailer vehicle topology)
Subsystems
After all of the components are inserted to ADVANCE workspace, create three different subsystems which will calculate:
- Battery current input = summation of current from Electric machine module and Electrical auxiliary system module
- Total vehicle torque = summation of torque from Final gear module and Electric machine module
- Total vehicle inertia = summation of inertia from Final gear module and Electric machine module
Do not forget to connect each of the subsystems to the bus selector using the goto and from tag as it is shown on the right side of the plant model area.
The input signals for truck component modules are:
| Module | Input signal | Signal label | Retrieved from |
|---|---|---|---|
| Internal combustion engine | Requested engine speed | Eng_nReq_radps | ECU module cmd |
| 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_strtReq_B | ||
| Fuel cut off | Eng_flgFuelCut_B | ||
| Engine rotational speed | phys_speed_radps | Clutch module mechanical fb output | |
| Clutch | Requested clutch pedal position | Clu_ratReq_B | ECU module cmd |
| Clutch torque input | phys_torque_Nm | ICE module mechanical output | |
| Clutch inertia input | phys_inertia_kgm2 | ||
| Clutch rotational speed input | phys_speed_radps | Transmission module mechanical fb output | |
| Transmission | Requested gear number | Transm_nrGearReq | ECU cmd |
| Transmission torque input | phys_torque_Nm | Clutch module mechanical output | |
| Transmission inertia input | phys_inertia_kgm2 | ||
| Transmission rotational speed input | phys_speed_radps | Final gear module mechanical fb output | |
| Final gear | Final gear torque input | phys_torque_Nm | Transmission module mechanical output |
| Final gear inertia input | phys_inertia_kgm2 | ||
| Final gear rotational speed input | phys_speed_radps | Chassis module mechanical fb output | |
| Chassis | Requested chassis brake torque | Chassis_tqBrake_Nm | ECU module cmd |
| Chassis torque input | phys_torque_Nm | Plant model total vehicle torque | |
| Chassis inertia input | phys_inertia_kgm2 | Plant model total vehicle inertia | |
| Drivecycle slope | Chassis_slopeRoad_rad | Test scenario area |
The input signals for trailer component modules are:
| Module | Input signal | Signal label | Retrieved from |
|---|---|---|---|
| Battery | Battery current input | battery | Plant model battery current input |
| Battery Actual cooling flow | Batt_flowActCooling_kgps | ECU module cmd | |
| Electric machine | Requested electric machine speed | ElecMac_nReq_radps | ECU module cmd |
| 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 | phys_voltage_V | Battery module electrical output | |
| Electric machine rotational speed input | phys_speed_radps | Chassis module sensor | |
| Electrical auxiliary system | Requested power | Aux_pwrElecReq_W | ECU module cmd |
| Voltage input | phys_voltage_V | Battery module electrical output |
Driver
The e-trailer project use manual transmission, therefore the driver manual module will be used as the driver model.
The input signals for the driver module are:
| Subsystem | Input signal | Signal label | Retrieved from |
|---|---|---|---|
| Plant model | Actual vehicle velocity | Chassis_vVehAct_mps | Chassis module sensor |
| Transmission input speed | Transm_nInAct_radps | Transmission module sensor | |
| Transmission actual gear number | Transm_nrGearAct | ||
| Clutch disengaged or not | Clu_flgConnected_B | Clutch module sensor | |
| Driver | Accelerator pedal rate | Drv_AccPedl_Rt | Driver manual module |
| Drive cycle | Drive cycle time and speed | drivecycle_time_speed | Test scenario area |
Simulation settings
The simulation settings for e-trailer project:
| Settings | Value |
|---|---|
| Time | 1800 [s] |
| Fixed - step size | 0.01 |
| Solver type | ode3 (Bogacki - shampine) |
The sequence of running the simulation:
- First, run parameter_main m.file
- Second, choose the desired output results in the Output Selector block
- Third, run ADVANCE in Simulink
- Fourth, plot the results using Results Plot GUI block
Contact
For more information regarding the specification of the battery and electric motor please contact e-Traction
(insert contact person information)
