Parallel Hybrid Vehicle Simulation

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 simulation

All the component modules which are going to be used in this example can be downloaded from ADVANCE Library.
The model is 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)

First, insert three empty_area components from TNO ADVANCE general library to make ECU, Plant model and Driver group modules and rename them accordingly.

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.

Test scenario area

The selection of input for each module has to be inserted according to the order otherwise the simulation result will be inaccurate.
Do not forget to select the location of the parameter files inside Parameter Setting'.

Test Scenarios

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.
The driving cycle for this example uses WHVC (World Harmonized Vehicle Cycle) as the drive cycle input.

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.

ECU area

The input signals to the ECU modules are:

Subsystem	Input signal	Signal label	Retrieved from
Driver	Accelerator pedal position	Drv_AccPedl_Rt	Vehicle driver manual 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 sensor
	Crankshaft torque	Eng_tqCrkSftAct_Nm
	Indicated torque	Eng_tqindAct_Nm
	Engine oil temperature	Eng_tOilAct_K
	Battery output current	Batt_iAct_A	Battery 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 sensor
	Electric machine output torque	ElecMac_tqAct_Nm	Electric machine 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 sensor
	Transmission gear number	Transm_nrGearAct
	Clutch lock	Transm_flgConnected_B
	Transmission input speed	Transm_nInAct_radps
	Vehicle velocity	Chassis_vVehAct_mps	Chassis sensor
	Wheel speed	Chassis_nWheelAct_radps
	Vehicle mass	Chassis_massVehAct_kg
	Road slope	Chassis_slopeRoad_kg
	Auxiliary system output current	Aux_iAct_A	Electrical auxiliary sensor

Plant model

Insert the parallel hybrid vehicle powertrain to the second empty_area.

Plant model area

The components of parallel hybrid vehicle powertrain are:

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

The input signals for each component modules are:

Module	Input signal	Signal label	Retrieved from
Internal combustion engine	Requested engine speed	Eng_nReq_radps	ECU 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 mechanical fb output
Clutch	Requested clutch pedal position	Clu_ratReq_B	ECU cmd
	Clutch torque input	phys_torque_Nm	ICE mechanical output
	Clutch inertia input	phys_inertia_kgm2
	Clutch rotational speed input	phys_speed_radps	Mechanical connection mechanical fb output1
Mechanical Connection	Mechanical connection torque input 1	phys_torque_Nm	Clutch mechanical output
	Mechanical connection inertia input 1	phys_inertia_kgm2
	Mechanical connection torque input 2	phys_torque_Nm	Electric machine mechanical output
	Mechanical connection inertia input 2	phys_inertia_kgm2
	Mechanical connection feedback input	phys_speed_radps	Transmission mechanical fb output
Transmission	Requested gear number	Transm_nrGearReq	ECU cmd
	Transmission torque input	phys_torque_Nm	Mechanical connection mechanical output
	Transmission inertia input	phys_inertia_kgm2
	Transmission rotational speed input	phys_speed_radps	Final gear mechanical fb output
Final gear	Final gear torque input	phys_torque_Nm	Transmission mechanical output
	Final gear inertia input	phys_inertia_kgm2
	Final gear rotational speed input	phys_speed_radps	Chassis mechanical fb output
Chassis	Requested chassis brake torque	Chassis_tqBrake_Nm	ECU cmd
	Chassis torque input	phys_torque_Nm	Final gear mechanical output
	Chassis inertia input	phys_inertia_kgm2
	Drivecycle slope	Chassis_slopeRoad_Rad	Test scenarios
Battery	Battery current input	battery	Plant model bus connector
	Battery Actual cooling flow	Batt_flowActCooling_kgps	ECU cmd
Electric machine	Requested electric machine speed	ElecMac_nReq_radps	ECU 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 electrical output
	Electric machine rotational speed input	phys_speed_radps	Mechanical connection mechanical join output 2
Electrical auxiliary system	Requested power	Aux_pwrElecReq_W	ECU cmd
	Voltage input	phys_voltage_V	Battery electrical output

Battery current input (green box) is a summation of current from Electric machine module and Electrical auxiliary system.

Driver

Insert the chosen vehicle driver to the third empty_area, vehicle driver manual is going to be used for this example.

Driver area.

The input signals for the driver module are:

Subsystem	Input signal	Signal label	Retrieved from
Plant model	Actual vehicle velocity	Chassis_vVehAct_mps	Chassis sensor
	Transmission input speed	Transm_nInAct_radps	Transmission sensor
	Transmission actual gear number	Transm_nrGearAct
	Clutch disengaged or not	Clu_flgConnected_B	Clutch module
Driver	Accelerator pedal rate	Drv_AccPedl_Rt	Driver module
Drive cycle	Drive cycle time and speed	drivecycle_time_speed	Test scenario module

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 ADVANCE in Simulink
• 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.