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 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

The signal inputs for ECU_module inside the ECU subsystem are:

Input signal	Retrieved from	Located under	Signal label
Accelerator pedal position	Driver subsystem	vehicle_driver_manual_module	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
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

The input signals for each component modules inside Plant_model subsystem 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	Mechanical module connection mechanical fb output1
Mechanical Connection	Mechanical connection torque input 1	phys_torque_Nm	Clutch module mechanical output
	Mechanical connection inertia input 1	phys_inertia_kgm2
	Mechanical connection torque input 2	phys_torque_Nm	Electric machine module mechanical output
	Mechanical connection inertia input 2	phys_inertia_kgm2
	Mechanical connection feedback input	phys_speed_radps	Transmission module mechanical fb output
Transmission	Requested gear number	Transm_nrGearReq	ECU module cmd
	Transmission torque input	phys_torque_Nm	Mechanical connection 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	Final gear module mechanical output
	Chassis inertia input	phys_inertia_kgm2
	Drivecycle slope	Chassis_slopeRoad_rad	Test scenario area
Battery	Battery current input	battery	Plant model bus connector
	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	Mechanical connection module mechanical join output 2
Electrical auxiliary system	Requested power	Aux_pwrElecReq_W	ECU module cmd
	Voltage input	phys_voltage_V	Battery module electrical output

The input signals for Vehicle_driver_manual_module inside the Driver subsystem are:

Subsystem	Input signal	Signal label	Retrieved from
Chassis module sensor	Actual vehicle velocity	Chassis_vVehAct_mps	Chassis 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
Driver manuakl module	Accelerator pedal rate	Drv_AccPedl_Rt	Driver module
Drive cycle	Drive cycle time and speed	drivecycle_time_speed	Test scenario area

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.