Difference between revisions of "Parallel Hybrid Vehicle Simulation"

From OpenMBD
Jump to: navigation, search
 
(137 intermediate revisions by 2 users not shown)
Line 1: Line 1:
−
This example project is intended for first time user so that they can practice and work more with ADVANCE simulation tools.  
+
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. <br/>
 +
The reference result of this particular vehicle has been uploaded so that the user can compare their own simulation. <br/>
  
−
== Creating the simulation ==
+
To learn more about how to create a simple model, go to [[SIMarchitect Tutorial]]  
−
All the component modules which are going to be used in this example can be downloaded from[[:File:HAN ADVANCE library.zip| HAN ADVANCE Library]]. <br/>
 
−
The model are split into four different group modules. Those are:
 
−
* Test scenarios (Driving cycle and Environment condition)
 
−
* ECU.
 
−
* Plant model (Parallel Hybrid vehicle powertrain component).
 
−
* Driver (Vehicle driver model).
 
  
 +
== Creating the model==
 +
The model is split into four different subsystems. Those are:
 +
* Test scenario (Driving cycle)
 +
* ECU
 +
* Plant model (Parallel Hybrid vehicle powertrain component)
 +
* Driver (Vehicle driver model)
  
−
First, insert three empty_area components from TNO ADVANCE general library to make ECU, Plant model and Driver group modules and rename them accordingly. <br/>
+
[[File:Paralleladvsim.jpg|thumb|none|1000px|alt = none| Parallel Hybrid vehicle simulation]]  
−
[[File:paralleladvsim.jpg|thumb|none|1000px|alt = none| Parallel Hybrid Vehicle ADVANCE layout]]
 
  
−
Delete the in and out ports as it is shown in the red box, since those ports will not be used. <br/>
+
=== Test Scenario ===
−
[[File:emptyarea.jpg|thumb|none|1000px|alt = none| Test scenario area]]
+
* Insert the '''Test_scenario''' component to (SIMarchitect) workspace, this component can be found under the Test Scenario in [[:File:SIMarchitect library.zip| SIMarchitect Library]].
  
−
The selection of input for each module has to be inserted according to the order, otherwise the simulation result will be inaccurate. <br/>
+
<br/>
−
Do not forget to select the location of the parameter files inside ''Parameter Setting'. <br/>
+
 
 +
[[File:Testscenario.png|thumb|none|1000px|alt = none| Test_scenario]]
 +
 
 +
=== ECU ===
 +
To create the ECU subsystem:
 +
* First insert an empty_area component to (SIMarchitect) workspace, this component can be found under the modeling tools below  SIMarchitect general library <br/>
 +
* Second, rename this empty_area componenent into '''ECU'''.<br/>
 +
* Third, delete the in and out ports inside the '''ECU''' subsystem as it is shown in the figure below.
 +
<br/>
 +
[[File:emptyarea.jpg|thumb|none|1000px|alt = none| empty_area]]
 +
<br/>
 +
* Fourth, insert the ECU module to the '''ECU''' subsytem. The ECU module and its parameter file can be downloaded [[:File:Parallel hybrid vehicle simulation ECU.zip | here ]]
 +
*Fifth, delete the extra port in the sub_connector (green box in the figure below) by double-clicking the sub_connector and change the number of inputs into 1 to delete this extra port.  
 +
<br/>
 +
[[File:ECUarea1.png|thumb|none|1000px|alt = none| ECU area]]
 +
 
 +
=== Plant model ===
 +
To create the Plant_model subsystem:
 +
* First insert an empty_area component to (SIMarchitect) workspace, this component can be found under the modeling tools below  SIMarchitect general library.
 +
* Second, rename this empty_area component into '''Plant_model'''. Do not use other names than the one specifies here otherwise, it will be confusing for assigning the signal input.
 +
* 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 listed below to the '''Plant_model''' subsystem and order them as it is shown in the figure below.
 +
 
 +
<br/>
 +
 
 +
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.
 +
<br/>
 +
 
 +
The components of parallel hybrid vehicle powertrain:
 +
* Internal Combustion Engine
 +
* Clutch
 +
* Mechanical connection
 +
* Transmission
 +
* Final gear
 +
* Chassis
 +
* Battery
 +
* Electric machine
 +
* Electrical auxiliary system
  
−
=== Test Scenarios ===
+
<br/>
−
Insert the test scenarios module from the library to ADVANCE. Use the parameter_main m.file to load the desired driving cycle and adjust the environment condition. <br/>
+
 
−
The driving cycle for this example can be found in this ... .  
+
* 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, remove signal1 and signal2 under the selected signals inside the bus selector prompt and select ''Electric_machine_electrical_fb__output.phys_current_A'' under the ''Electric_machine_sensor''. 
 +
* Ninth, double-click the second bus selector, remove signal1 and signal2 under the selected signals inside the bus selector prompt and select ''Electrical_aux_electrical_fb_output.phys_current_A'' under the ''Electrical_aux_sensor''.
 +
* 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.  
 +
 
 +
<br/>
 +
 
 +
[[File:hybridparallelplantmodel.PNG|thumb|none|1000px|alt = none| Plant model area]]
 +
 
 +
=== Driver ===
 +
To create driver subsystem:
 +
* First insert an empty_area component to (SIMarchitect) workspace, this component can be found under the modeling tools below  SIMarchitect general library.
 +
* Second, rename this empty_area component 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 to the '''Driver''' subsystem.  
 +
* Fifth, delete the extra port in the sub_connector, by doing the same method as it was explained in the previous two subsystems.
 +
[[File:driverarea1.png|thumb|none|1000px|alt = none| Driver area.]]
  
 +
== Assigning signal inputs ==
 
=== ECU ===
 
=== ECU ===
−
Insert the ECU module to the first empty_area and notice that the ''from block'' is automatically connected to the bus connector of the output port of this empty_area. <br/>
+
To assign the signal input for ECU module:
−
[[File:ECUarea.jpg|thumb|none|1000px|alt = none| ECU area]]
+
* First, double-click the black box on top of the module to show the bus selector prompt.
 +
* Second, remove ''none'' from the selected signals area, located on the right-hand side of the bus selector prompt.
 +
<br/>
 +
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.
 +
 
 +
<br/>
  
−
<br/>
 
−
The input signals to the ECU modules are:
 
 
{| class="wikitable"
 
{| class="wikitable"
 
|-  
 
|-  
−
! Scope="col"| Subsystem
 
 
! Scope="col"| Input signal
 
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 
! Scope="col"| Signal label
 
! Scope="col"| Signal label
−
! Scope="col"| Retrieved from
 
 
|-
 
|-
−
| rowspan="5" style="text-align: center;" | Driver
 
 
| Accelerator pedal position
 
| Accelerator pedal position
 +
| rowspan="5" style="text-align: center;" | Driver
 +
| rowspan="5" style="text-align: center;" | vehicle_driver_manual_module → Driver
 
| ''Drv_AccPedl_Rt''
 
| ''Drv_AccPedl_Rt''
−
| rowspan="5" style="text-align: center;" | Vehicle driver manual sensor
 
 
|-
 
|-
 
| Brake pedal position
 
| Brake pedal position
Line 53: Line 112:
 
| ''Drv_nrGearReq''
 
| ''Drv_nrGearReq''
 
|-
 
|-
−
| rowspan="22" style="text-align: center;" | Plant model
 
 
| Actual engine speed
 
| Actual engine speed
 +
| rowspan="22" style="text-align: center;" | Plant_model
 +
| rowspan="4" style="text-align: center;" | ICE_module → ICE_sensor
 
| ''Eng_nAct_radps''
 
| ''Eng_nAct_radps''
−
| rowspan="4" style="text-align: center;" | Engine sensor
 
 
|-
 
|-
 
| Crankshaft torque
 
| Crankshaft torque
Line 68: Line 127:
 
|-
 
|-
 
| Battery output current
 
| Battery output current
 +
| rowspan="4" style="text-align: center;" | Battery_module → Battery_sensor
 
| ''Batt_iAct_A''
 
| ''Batt_iAct_A''
−
| rowspan="4" style="text-align: center;" | Battery sensor
 
 
|-
 
|-
 
| Battery output voltage
 
| Battery output voltage
Line 81: Line 140:
 
|-
 
|-
 
| Clutch disengaged or not
 
| Clutch disengaged or not
 +
| rowspan="1" style="text-align: center;" | Clutch_module → Clutch_sensor
 
| ''Clu_flgConnected_B''
 
| ''Clu_flgConnected_B''
−
| rowspan="1" style="text-align: center;" | Clutch sensor
 
 
|-
 
|-
 
| Electric machine output torque
 
| Electric machine output torque
 +
| rowspan="4" style="text-align: center;" | Electric_machine_module → Electric_machine_sensor
 
| ''ElecMac_tqAct_Nm''
 
| ''ElecMac_tqAct_Nm''
−
| rowspan="4" style="text-align: center;" | Electric machine sensor
 
 
|-
 
|-
 
| Electric machine output speed
 
| Electric machine output speed
Line 98: Line 157:
 
|-
 
|-
 
| Transmission output speed
 
| Transmission output speed
 +
| rowspan="4" style="text-align: center;" | Transmission_module → Transmission_sensor
 
| ''Transm_nOutAct_radps''
 
| ''Transm_nOutAct_radps''
−
| rowspan="4" style="text-align: center;" | Transmission sensor
 
 
|-
 
|-
 
| Transmission gear number
 
| Transmission gear number
Line 111: Line 170:
 
|-
 
|-
 
| Vehicle velocity
 
| Vehicle velocity
 +
| rowspan="4" style="text-align: center;" | Chassis_module → Chassis_sensor
 
| ''Chassis_vVehAct_mps''
 
| ''Chassis_vVehAct_mps''
−
| rowspan="4" style="text-align: center;" | Chassis sensor
 
 
|-
 
|-
 
| Wheel speed
 
| Wheel speed
Line 121: Line 180:
 
|-  
 
|-  
 
| Road slope
 
| Road slope
−
| ''Chassis_slopeRoad_kg''
+
| ''Chassis_slopeRoad_rad''
 
|-
 
|-
 
| Auxiliary system output current
 
| Auxiliary system output current
 +
| rowspan="1" style="text-align: center;" | Electrical_aux_system_module → Electrical_aux_sensor
 
| ''Aux_iAct_A''
 
| ''Aux_iAct_A''
−
| rowspan="1" style="text-align: center;" | Electrical auxiliary sensor
 
 
|}
 
|}
 +
 +
<br/>
  
 
=== Plant model ===
 
=== Plant model ===
−
Insert the parallel hybrid vehicle powertrain to the second empty_area. <br/>
+
To assign the signal input for each component module:
−
[[File:plantmodelarea.jpg|thumb|none|1000px|alt = none| Plant model area]]
+
* First, double-click the black box on top of the module to show the bus selector prompt.
 +
* Second, remove ''none'' from the selected signals area, located on the right-hand side of the bus selector prompt.
 +
* Third, follow the table below to assign signals to each component module.
 +
<br/>
 +
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. <br/>
 +
The signals should be assigned according to the order shown in the table below. Otherwise, the simulation will give an error and not run.  
  
 
<br/>
 
<br/>
−
The component of parallel hybrid vehicle powertrain are:
 
−
* Internal Combustion Engine
 
−
* Clutch
 
−
* Mechanical connection
 
−
* Transmission
 
−
* Final gear
 
−
* Chassis
 
−
* Battery
 
−
* Electric machine
 
−
* Electrical auxiliary system
 
−
<br/>
 
  
−
The input signals for each component modules are:
+
'''ICE module'''
 +
 
 
{| class="wikitable"
 
{| class="wikitable"
 
|-  
 
|-  
−
! Scope="col"| Module
 
 
! Scope="col"| Input signal
 
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 
! Scope="col"| Signal label
 
! Scope="col"| Signal label
−
! Scope="col"| Retrieved from
 
 
|-
 
|-
−
| rowspan="8" style="text-align: center;" | Internal combustion engine
 
 
| Requested engine speed
 
| Requested engine speed
 +
| rowspan="7" style="text-align: center;" | ECU
 +
| rowspan="7" style="text-align: center;" | ECU_module → cmd
 
| ''Eng_nReq_radps''
 
| ''Eng_nReq_radps''
−
| rowspan="7" style="text-align: center;" | ECU cmd
 
 
|-
 
|-
 
| Switch Speed / torque control
 
| Switch Speed / torque control
Line 171: Line 226:
 
|-
 
|-
 
| Starter motor ON / OFF
 
| Starter motor ON / OFF
−
| ''Eng_strtReq_B''
+
| ''Eng_flgstrtrReq_B''
 
|-
 
|-
 
| Fuel cut off
 
| Fuel cut off
Line 177: Line 232:
 
|-
 
|-
 
| Engine rotational speed
 
| Engine rotational speed
 +
| Plant_model
 +
| rowspan="1" style="text-align: center;" | Clutch_module → clutch_mechanical_fb_output
 
| ''phys_speed_radps''
 
| ''phys_speed_radps''
−
| rowspan="1" style="text-align: center;" | Clutch mechanical fb output
+
|}
 +
 
 +
<br/>
 +
 
 +
'''Clutch module'''
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="4" style="text-align: center;" | Clutch
 
 
| Requested clutch pedal position
 
| Requested clutch pedal position
 +
| rowspan="1" style="text-align: center;" | ECU
 +
| rowspan="1" style="text-align: center;" | ECU_module → cmd
 
| ''Clu_ratReq_B''
 
| ''Clu_ratReq_B''
−
| rowspan="1" style="text-align: center;" | ECU cmd
 
 
|-
 
|-
 
| Clutch torque input
 
| Clutch torque input
 +
| rowspan="3" style="text-align: center;" | plant_model
 +
| rowspan="2" style="text-align: center;" | ICE_module → ICE_mechanical output
 
| ''phys_torque_Nm''
 
| ''phys_torque_Nm''
−
| rowspan="2" style="text-align: center;" | ICE mechanical output
 
 
|-
 
|-
 
| Clutch inertia input
 
| Clutch inertia input
Line 193: Line 260:
 
|-
 
|-
 
| Clutch rotational speed input  
 
| Clutch rotational speed input  
 +
| rowspan="1" style="text-align: center;" | Mechanical_connection_module → MC_mechanical_fb_output1
 
| ''phys_speed_radps''
 
| ''phys_speed_radps''
−
| rowspan="1" style="text-align: center;" | Mechanical connection mechanical fb output1
+
|}
 +
 
 +
<br/>
 +
 
 +
'''Mechanical connection module'''
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="5" style="text-align: center;" | Mechanical Connection
 
 
| Mechanical connection torque input 1
 
| Mechanical connection torque input 1
 +
| rowspan="5" style="text-align: center;" | plant_model
 +
| rowspan="2" style="text-align: center;" | Clutch_module → clutch_mechanical_output
 
| ''phys_torque_Nm''
 
| ''phys_torque_Nm''
−
| rowspan="2" style="text-align: center;" | Clutch mechanical output
 
 
|-
 
|-
 
| Mechanical connection inertia input 1
 
| Mechanical connection inertia input 1
Line 205: Line 282:
 
|-
 
|-
 
| Mechanical connection torque input 2
 
| Mechanical connection torque input 2
 +
| rowspan="2" style="text-align: center;" | Electric_machine_module → Electric_machine_mechanical_output
 
| ''phys_torque_Nm''
 
| ''phys_torque_Nm''
−
| rowspan="2" style="text-align: center;" | Electric machine mechanical output
 
 
|-
 
|-
 
| Mechanical connection inertia input 2
 
| Mechanical connection inertia input 2
Line 212: Line 289:
 
|-
 
|-
 
| Mechanical connection feedback input
 
| Mechanical connection feedback input
 +
| rowspan="1" style="text-align: center;" | Transmission_module → Transmission_mechanical_fb_output
 
| ''phys_speed_radps''
 
| ''phys_speed_radps''
−
| rowspan="1" style="text-align: center;" | Transmission mechanical fb output
+
|}
 +
 
 +
<br/>
 +
 
 +
'''Transmission module'''
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="4" style="text-align: center;" | Transmission
 
 
| Requested gear number
 
| Requested gear number
 +
| rowspan="1" style="text-align: center;" | ECU
 +
| rowspan="1" style="text-align: center;" | ECU_module → cmd
 
| ''Transm_nrGearReq''
 
| ''Transm_nrGearReq''
−
| rowspan="1" style="text-align: center;" | ECU cmd
 
 
|-
 
|-
 
| Transmission torque input
 
| Transmission torque input
 +
| rowspan="3" style="text-align: center;" | plant_model
 +
| rowspan="2" style="text-align: center;" | Mechanical_connection_module → MC_mechanical_output
 
| ''phys_torque_Nm''
 
| ''phys_torque_Nm''
−
| rowspan="2" style="text-align: center;" | Mechanical connection mechanical output
 
 
|-
 
|-
 
| Transmission inertia input
 
| Transmission inertia input
Line 228: Line 316:
 
|-
 
|-
 
| Transmission rotational speed input
 
| Transmission rotational speed input
 +
| rowspan="1" style="text-align: center;" | Final_gear_module → Final_gear_mechanical fb output
 
| ''phys_speed_radps''
 
| ''phys_speed_radps''
−
| rowspan="1" style="text-align: center;" | Final gear mechanical fb output
+
|}
 +
 
 +
<br/>
 +
 
 +
'''Final gear module'''
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="3" style="text-align: center;" | Final gear
 
 
| Final gear torque input
 
| Final gear torque input
 +
| rowspan="3" style="text-align: center;" | plant_model
 +
| rowspan="2" style="text-align: center;" | Transmission_module → Transmission_mechanical_output
 
| ''phys_torque_Nm''
 
| ''phys_torque_Nm''
−
| rowspan="2" style="text-align: center;" | Transmission mechanical output
 
 
|-
 
|-
 
| Final gear inertia input
 
| Final gear inertia input
Line 240: Line 338:
 
|-
 
|-
 
| Final gear rotational speed input
 
| Final gear rotational speed input
 +
| rowspan="1" style="text-align: center;" | Chassis_module → Chassis_mechanical_fb_output
 
| ''phys_speed_radps''
 
| ''phys_speed_radps''
−
| rowspan="1" style="text-align: center;" | Chassis mechanical fb output
+
|}
 +
 
 +
<br/>
 +
 
 +
'''Chassis module'''
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="4" style="text-align: center;" | Chassis
 
 
| Requested chassis brake torque
 
| Requested chassis brake torque
 +
| rowspan="1" style="text-align: center;" | ECU
 +
| rowspan="1" style="text-align: center;" | ECU_module → cmd
 
| ''Chassis_tqBrake_Nm''
 
| ''Chassis_tqBrake_Nm''
−
| rowspan="1" style="text-align: center;" | ECU cmd
 
 
|-
 
|-
 
| Chassis torque input
 
| Chassis torque input
 +
| rowspan="2" style="text-align: center;" | plant_model
 +
| rowspan="2" style="text-align: center;" | Final_gear_module → Final_gear_mechanical_output
 
| ''phys_torque_Nm''
 
| ''phys_torque_Nm''
−
| rowspan="2" style="text-align: center;" | Final gear mechanical output
 
 
|-
 
|-
 
| Chassis inertia input
 
| Chassis inertia input
Line 256: Line 365:
 
|-
 
|-
 
| Drivecycle slope
 
| Drivecycle slope
−
| ''Chassis_slopeRoad_Rad''
+
| rowspan="1" style="text-align: center;" | Test_scenario
−
| rowspan="1" style="text-align: center;" | Test scenarios
+
| rowspan="1" style="text-align: center;" | Test_scenario
 +
| ''drivecycle_time_slope''
 +
|}
 +
 
 +
<br/>
 +
 
 +
'''Battery module'''
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="2" style="text-align: center;" | Battery
 
 
| Battery current input
 
| Battery current input
−
| ''battery''
+
| rowspan="1" style="text-align: center;" | plant_model
−
| rowspan="1" style="text-align: center;" | Plant model bus connector
+
| rowspan="1" style="text-align: center;" | plant_model
 +
| ''battery_current_input''
 
|-
 
|-
 
| Battery Actual cooling flow
 
| Battery Actual cooling flow
 +
| rowspan="1" style="text-align: center;" | ECU
 +
| rowspan="1" style="text-align: center;" | ECU_module → cmd
 
| ''Batt_flowActCooling_kgps''
 
| ''Batt_flowActCooling_kgps''
−
| rowspan="1" style="text-align: center;" | ECU cmd
+
|}
 +
 
 +
<br/>
 +
 
 +
'''Electric machine module'''
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="6" style="text-align: center;" | Electric machine
 
 
| Requested electric machine speed
 
| Requested electric machine speed
 +
| rowspan="4" style="text-align: center;" | ECU
 +
| rowspan="4" style="text-align: center;" | ECU_module → cmd
 
| ''ElecMac_nReq_radps''
 
| ''ElecMac_nReq_radps''
−
| rowspan="4" style="text-align: center;" | ECU cmd
 
 
|-
 
|-
 
| Switch speed / torque control
 
| Switch speed / torque control
Line 283: Line 414:
 
|-
 
|-
 
| Electric machine voltage input
 
| Electric machine voltage input
 +
| rowspan="2" style="text-align: center;" | plant_model
 +
| rowspan="1" style="text-align: center;" | Battery_module → Battery_electrical output
 
| ''phys_voltage_V''
 
| ''phys_voltage_V''
−
| rowspan="1" style="text-align: center;" | Battery electrical output
 
 
|-
 
|-
 
| Electric machine rotational speed input
 
| Electric machine rotational speed input
 +
| rowspan="1" style="text-align: center;" | Mechanical_connection_module → MC_mechanical_join_output2
 
| ''phys_speed_radps''
 
| ''phys_speed_radps''
−
| rowspan="1" style="text-align: center;" | Mechanical connection mechanical join output 2
+
|}
 +
 
 +
<br/>
 +
 
 +
'''Electrical aux system module'''
 +
 
 +
{| class="wikitable"
 +
|-
 +
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 +
! Scope="col"| Signal label
 
|-
 
|-
−
| rowspan="2" style="text-align: center;" | Electrical auxiliary system
 
 
| Requested power
 
| Requested power
 +
| rowspan="1" style="text-align: center;" | ECU
 +
| rowspan="1" style="text-align: center;" | ECU_module → cmd
 
| ''Aux_pwrElecReq_W''
 
| ''Aux_pwrElecReq_W''
−
| rowspan="1" style="text-align: center;" | ECU cmd
 
 
|-
 
|-
 
| Voltage input
 
| Voltage input
 +
| rowspan="1" style="text-align: center;" | plant_model
 +
| rowspan="1" style="text-align: center;" | Battery_module → Battery_electrical_output
 
| ''phys_voltage_V''
 
| ''phys_voltage_V''
−
| rowspan="1" style="text-align: center;" | Battery electrical output
 
 
|}
 
|}
  
−
Battery current input (green box) is a summation of current from ''Electric machine module'' and ''Electrical auxiliary system''.
+
<br/>
  
 
=== Driver ===
 
=== Driver ===
−
Insert the chosen vehicle driver to the third empty_area, vehicle driver manual is going to be used for this example. <br/>
+
To assign the signal input for Vehicle driver module:
−
[[File:driverarea.jpg|thumb|none|1000px|alt = none| Driver area.]]
+
* First, double-click the black box on top of the module to show the bus selector prompt.
 +
* Second, remove ''none'' from the selected signals area, located on the right-hand side of the bus selector prompt.
 +
* Third, follow the table below to assign signals to '''Vwhicle_driver_manual_module'''.
 +
<br/>
 +
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. <br/>
 +
The signals should be assigned according to the order shown in the table below. Otherwise, the simulation will give an error and not run.  
 +
 
 +
<br/>
  
−
The input signals for the driver module are:
 
 
{| class="wikitable"
 
{| class="wikitable"
 
|-  
 
|-  
−
! Scope="col"| Subsystem
 
 
! Scope="col"| Input signal
 
! Scope="col"| Input signal
 +
! colspan="2"| Located under
 
! Scope="col"| Signal label
 
! Scope="col"| Signal label
−
! Scope="col"| Retrieved from
 
 
|-
 
|-
−
| rowspan="4" style="text-align: center;" | Plant model
 
 
| Actual vehicle velocity
 
| Actual vehicle velocity
 +
| rowspan="4" style="text-align: center;" | plant_model
 +
| rowspan="1" style="text-align: center;" | Chassis_module → Chassis_sensor
 
| ''Chassis_vVehAct_mps''
 
| ''Chassis_vVehAct_mps''
−
| Chassis sensor
 
 
|-
 
|-
 
| Transmission input speed
 
| Transmission input speed
 +
| rowspan="2" style="text-align: center;" | Transmission_module → Transmission_sensor
 
| ''Transm_nInAct_radps''
 
| ''Transm_nInAct_radps''
−
| rowspan="2" style="text-align: center;" | Transmission sensor
 
 
|-
 
|-
 
| Transmission actual gear number
 
| Transmission actual gear number
Line 327: Line 476:
 
|-
 
|-
 
| Clutch disengaged or not
 
| Clutch disengaged or not
 +
| rowspan="1" style="text-align: center;" | Clutch_module → clutch_sensor
 
| ''Clu_flgConnected_B''
 
| ''Clu_flgConnected_B''
−
| Clutch module
 
 
|-
 
|-
 +
| Accelerator pedal rate
 
| rowspan="1" style="text-align: center;" | Driver  
 
| rowspan="1" style="text-align: center;" | Driver  
−
| Accelerator pedal rate
+
| rowspan="1" style="text-align: center;" | vehicle_driver_manual_module → Driver
 
| ''Drv_AccPedl_Rt''
 
| ''Drv_AccPedl_Rt''
−
| 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''
−
| Test scenario module
 
 
|}
 
|}
  
 
== Simulation Settings ==
 
== Simulation Settings ==
−
There are several settings which has to be changed on simulink, those are:
+
There simulation settings for this simulation are:
 
{| class="wikitable"
 
{| class="wikitable"
 
! Scope="col" | Settings
 
! Scope="col" | Settings
Line 357: Line 506:
 
|}
 
|}
  
−
The simulation uses '''WHVC''' ('''W'''orld '''H'''armonized '''V'''ehicle '''C'''ycle) as the drive cycle input. <br/>
+
== Run the simulation ==
 +
To ensure that the simulation result of the created project is the same as the result shown in the next chapter, use this [[:File:Parallel hybrid vehicle simulation parameter file.zip | parallel hybrid vehicle parameter file]]. <br/>
 +
 
 +
Load the downloaded parameter into the created parallel hybrid vehicle simulation, 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:
 +
* 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''.
 
The output from each individual module can be plotted using the ''Results Plot GUI''.
  
 
== Simulation Result ==
 
== Simulation Result ==
−
The simulation results of the parallel hybrid vehicle are as follow:
+
Use these [[:File:Simulation Result.zip| Simulation Results]] to do graphical validation. <br/>
 +
The simulation results of the parallel hybrid vehicle are as follows:
 
{| class="wikitable"
 
{| class="wikitable"
 
! Scope="col" | Module
 
! Scope="col" | Module

Latest revision as of 10:03, 13 August 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 SIMarchitect Tutorial

Creating the model

The model is split into four different subsystems. Those are:

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

Test Scenario

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


Test_scenario

ECU

To create the ECU subsystem:

  • First insert an empty_area component to (SIMarchitect) workspace, this component can be found under the modeling tools below SIMarchitect 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 to the ECU subsytem. The ECU module and its parameter file can be downloaded here
  • Fifth, delete the extra port in the sub_connector (green box in the figure below) by double-clicking the sub_connector and change the number of inputs into 1 to delete this extra port.


ECU area

Plant model

To create the Plant_model subsystem:

  • First insert an empty_area component to (SIMarchitect) workspace, this component can be found under the modeling tools below SIMarchitect general library.
  • Second, rename this empty_area component into Plant_model. Do not use other names than the one specifies here otherwise, it will be confusing for assigning the signal input.
  • 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 listed below to the Plant_model subsystem and order them as it is shown in the figure below.


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 of parallel hybrid vehicle powertrain:

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


  • 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, remove signal1 and signal2 under the selected signals inside the bus selector prompt and select Electric_machine_electrical_fb__output.phys_current_A under the Electric_machine_sensor.
  • Ninth, double-click the second bus selector, remove signal1 and signal2 under the selected signals inside the bus selector prompt and select Electrical_aux_electrical_fb_output.phys_current_A under the Electrical_aux_sensor.
  • 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 (SIMarchitect) workspace, this component can be found under the modeling tools below SIMarchitect general library.
  • Second, rename this empty_area component 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 to the Driver subsystem.
  • Fifth, delete the extra port in the sub_connector, by doing the same method as it was explained in the previous two subsystems.
Driver area.

Assigning signal inputs

ECU

To assign the signal input for ECU module:

  • First, double-click the black box on top of the module to show the bus selector prompt.
  • Second, remove none from the selected signals area, located on the right-hand side of the bus selector prompt.


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


Plant model

To assign the signal input for each component module:

  • First, double-click the black box on top of the module to show the bus selector prompt.
  • Second, remove none from the selected signals area, located on the right-hand side of the bus selector prompt.
  • Third, follow the table below to assign signals to 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 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 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 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 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


Driver

To assign the signal input for Vehicle driver module:

  • First, double-click the black box on top of the module to show the bus selector prompt.
  • Second, remove none from the selected signals area, located on the right-hand side of the bus selector prompt.
  • Third, follow the table below to assign signals to Vwhicle_driver_manual_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

Simulation Settings

There simulation settings for this simulation are:

Settings Value
Time 1800 [s]
Fixed - step size 0.01
Solver type ode3 (Bogacki - shampine)

Run the simulation

To ensure that the simulation result of the created project is the same as the result shown in the next chapter, use this parallel hybrid vehicle parameter file.

Load the downloaded parameter into the created parallel hybrid vehicle simulation, 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:

  • 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.
Retrieved from "http://openmbd.eu/wiki/index.php?title=Parallel_Hybrid_Vehicle_Simulation&oldid=4728"