Difference between revisions of "Parallel Hybrid Vehicle Simulation"

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(→‎Assigning signal inputs)
(→‎Assigning signal inputs)
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| Accelerator pedal position
 
| Accelerator pedal position
 
| rowspan="5" style="text-align: center;" | Driver  
 
| rowspan="5" style="text-align: center;" | Driver  
−
| rowspan="5" style="text-align: center;" | vehicle_driver_manual_module → Driver  
+
| rowspan="5" style="text-align: center;" | vehicle_driver_manual_module → Driver  
 
| ''Drv_AccPedl_Rt''
 
| ''Drv_AccPedl_Rt''
 
|-
 
|-
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<br/>
 
<br/>
  
 +
=== Plant model ===
 
The input signals for each component modules inside '''Plant_model''' subsystem are: <br/>
 
The input signals for each component modules inside '''Plant_model''' subsystem are: <br/>
 
'''ICE module'''
 
'''ICE module'''
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<br/>
 
<br/>
  
 +
=== Driver ===
 
The input signals for Vehicle_driver_manual_module inside the '''Driver''' subsystem are:
 
The input signals for Vehicle_driver_manual_module inside the '''Driver''' subsystem are:
 
{| class="wikitable"
 
{| class="wikitable"
 
|-  
 
|-  
−
! Scope="col"| Subsystem
 
 
! Scope="col"| Input signal
 
! Scope="col"| Input signal
 +
! Scope="col"| Signal in
 +
! Scope="col"| Located under
 
! Scope="col"| Signal label
 
! Scope="col"| Signal label
−
! Scope="col"| Retrieved from
 
 
|-
 
|-
−
| rowspan="4" style="text-align: center;" | Chassis module sensor
 
 
| Actual vehicle velocity
 
| Actual vehicle velocity
 +
| rowspan="4" style="text-align: center;" | plant_model
 +
| style="text-align: center;" | Chassis_module → Chassis_sensor
 
| ''Chassis_vVehAct_mps''
 
| ''Chassis_vVehAct_mps''
−
| style="text-align: center;" | Chassis sensor
 
 
|-
 
|-
 
| Transmission input speed
 
| Transmission input speed
 
| ''Transm_nInAct_radps''
 
| ''Transm_nInAct_radps''
−
| rowspan="2" style="text-align: center;" | Transmission module sensor
+
| rowspan="2" style="text-align: center;" | Transmission_module → Transmission_sensor
 
|-
 
|-
 
| Transmission actual gear number
 
| Transmission actual gear number
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| Clutch disengaged or not
 
| Clutch disengaged or not
 
| ''Clu_flgConnected_B''
 
| ''Clu_flgConnected_B''
−
| style="text-align: center;" | Clutch module
+
| style="text-align: center;" | Clutch_module → clutch_sensor
 
|-
 
|-
−
| rowspan="1" style="text-align: center;" | Driver manuakl module
 
 
| Accelerator pedal rate
 
| Accelerator pedal rate
 +
| rowspan="1" style="text-align: center;" | Driver
 +
| rowspan="1" style="text-align: center;" | vehicle_driver_manual_module → Driver
 
| ''Drv_AccPedl_Rt''
 
| ''Drv_AccPedl_Rt''
−
| style="text-align: center;" | Driver module
 
 
|-
 
|-
−
| rowspan="1" style="text-align: center;" | Drive cycle
 
 
| Drive cycle time and speed
 
| Drive cycle time and speed
 +
| rowspan="1" style="text-align: center;" | Test_scenario
 +
| rowspan="1" style="text-align: center;" | Test_scenario
 
| ''drivecycle_time_speed''
 
| ''drivecycle_time_speed''
−
| style="text-align: center;" | Test scenario area
 
 
|}
 
|}
  

Revision as of 19:29, 31 May 2018

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

Creating the model

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:

  • Test scenario (Driving cycle)
  • ECU
  • Plant model (Parallel Hybrid vehicle powertrain component)
  • Driver (Vehicle driver model)

Test Scenario

  • Insert the Test_scenario component to (ADVANCE) workspace, this component can be found under the Test Scenario in SIMarchitect library.

ECU

To create the ECU subsystem:

  • First insert an empty_area component to (ADVANCE) workspace, this component can be found under the modeling tools below TNO ADVANCE general library
  • Second, rename this empty_area componenent into ECU.
  • Third, delete the in and out ports inside the ECU subsystem as it is shown in the figure below.


empty_area


  • Fourth, insert the ECU module from the XXX library to the ECU subsytem and notice that the from tag is automatically connected to the bus connector of the output port of this empty_area. Notice that there is an extra port next to the from tag, double click the sub_connector and change the number of inputs into 1 to delete this extra port.
ECU area

Plant model

The components of parallel hybrid vehicle powertrain are:

  • Internal Combustion Engine
  • Clutch
  • Mechanical connection
  • Transmission
  • Final gear
  • Chassis
  • Battery
  • Electric machine
  • Electrical auxiliary system

To create the Plant_model subsystem:

  • First insert an empty_area component to (ADVANCE) workspace, this component can be found under the modeling tools below TNO ADVANCE general library
  • Second, rename this empty_area componenent into Plant_model.
  • Third, delete the in and out ports inside the Plant_model subsystem as it is shown in the empty_area figure above.
  • Fourth, insert the components described above to the Plant_model subsystem and order them as it is shown in the figure below.
  • Fifth, add an extra port in the sub_connector, this can be done by double clicking the sub_connector and change the number of input to 10.
  • Sixth, locate the from tag of Electric machine module and Electrical auxiliary system and copy-paste it in the workspace.
  • Seventh, insert two (2) Bus Selector(s) and connect it to each tag.
  • Eighth, double click the first bus selector and select Electric_machine_electrical_fb__output.phys_current_A under the Electric_machine_sensor
  • Ninth, double click the second bus selector and select Electrical_aux_electrical_fb_output.phys_current_A under the Electrical_aux_sensor from the Electrical auxiliary system tag.
  • Tenth, insert sum component to add the selected signals.
  • Finally, connect the sum component to the sub_connector and rename the signal as battery_current_input.


Plant model area

Driver

To create driver subsystem:

  • First insert an empty_area component to (ADVANCE) workspace, this component can be found under the modeling tools below TNO ADVANCE general library
  • Second, rename this empty_area componenent into Driver.
  • Third, delete the in and out ports inside the Driver subsystem as it is shown in the empty_area figure above.
  • Fourth, insert the vehicle driver manual from the library to the Driver subsystem.
Driver area.

Assigning signal inputs

ECU

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


Plant model

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 phys_speed_radps Mechanical_connection_module → MC_mechanical_fb_output1


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


Driver

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 Transm_nInAct_radps Transmission_module → Transmission_sensor
Transmission actual gear number Transm_nrGearAct
Clutch disengaged or not Clu_flgConnected_B Clutch_module → clutch_sensor
Accelerator pedal rate Driver vehicle_driver_manual_module → Driver Drv_AccPedl_Rt
Drive cycle time and speed Test_scenario Test_scenario drivecycle_time_speed

Simulation Settings

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:

  • First, run parameter_main m.file
  • Second, choose the desired output results in the Output Selector block
  • Third, run the simulation
  • Fourth, plot the results using Results Plot GUI block

The output from each individual module can be plotted using the Results Plot GUI.

Simulation Result

Use these Simulation Results to do graphical validation.
The simulation results of the parallel hybrid vehicle are as follows:

Module Result
Internal Combustion Engine
ICE mechanical output.
Clutch
Clutch mechanical output.
Mechanical connection
Mechanical connection mechanical output.
Transmission
Transmission mechanical output.
Final gear
Final gear mechanical output.
Chassis
Chassis mechanical feed back output.
Battery
Battery eletrical output.
Electric Machine
Electric machine mechanical output.
Electrical Auxiliary system
Electrical auxiliary mechanical output.
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