A hybrid electric Tricycle (HET) is a type of electric vehicle that uses BLDC motor and a conventional internal combustion engine and manual pedal for physically challenged people. This type of Tricycle is considered to have good performance and fuel economy compared to a conventional method. This paper concentrates on the design and simulation of a hybrid electric Tricycle using a DC-DC power boost converter. Three types of input sources are used: lithium-ion Battery, Two stroke petrol engine and pedal. A DC-DC power boost converter is designed in closed loop speed control of BLDC Motor which arbitrates power to the battery. The main components of the proposed hybrid electric Tricycle (HET) is: battery, two stroke petrol engine, pedal, DC-DC Boot converter, PID controller and BLDC motor. The working model of electric Tricycle is built and the performance of the battery and the power boost converter are analyzed and the results are verified in MATLAB/ simulink

1. http://www.iaeme.com/IJMET/index.asp 483 editor@iaeme.com
International Journal of Mechanical Engineering and Technology (IJMET)
Volume 9, Issue 11, November 2018, pp. 483–492, Article ID: IJMET_09_11_047
Available online at http://www.iaeme.com/ijmet/issues.asp?JType=IJMET&VType=9&IType=11
ISSN Print: 0976-6340 and ISSN Online: 0976-6359
© IAEME Publication Scopus Indexed
DESIGN AND SIMULATION OF HYBRID
ELECTRIC TRICYCLE EMPLOYING BLDC
DRIVE USING POWER BOOST CONVERTER
S. Swapna
Department of EEE, Research Scholar ,Vel Tech Rangarajan Dr. Sangunthala R&D Institute
of Science & Technology, Chennai, Tamil Nadu, India
K. Siddappa Naidu
Department of ECE, Professor, Vel Tech Rangarajan Dr. Sangunthala R&D Institute of
Science & Technology, Chennai, Tamil Nadu, India
ABSTRACT
A hybrid electric Tricycle (HET) is a type of electric vehicle that uses BLDC motor
and a conventional internal combustion engine and manual pedal for physically
challenged people. This type of Tricycle is considered to have good performance and
fuel economy compared to a conventional method. This paper concentrates on the
design and simulation of a hybrid electric Tricycle using a DC-DC power boost
converter. Three types of input sources are used: lithium-ion Battery, Two stroke
petrol engine and pedal. A DC-DC power boost converter is designed in closed loop
speed control of BLDC Motor which arbitrates power to the battery. The main
components of the proposed hybrid electric Tricycle (HET) is: battery, two stroke
petrol engine, pedal, DC-DC Boot converter, PID controller and BLDC motor. The
working model of electric Tricycle is built and the performance of the battery and the
power boost converter are analyzed and the results are verified in MATLAB/ simulink.
Key words: Electric Tricycle, PID controller, Power Boost Converter, BLDCM,
Battery.
Cite this Article: S. Swapna, K. Siddappa Naidu, Design and Simulation of Hybrid
Electric Tricycle Employing BLDC Drive using Power Boost Converter, International
Journal of Mechanical Engineering and Technology 9(11), 2018, pp. 483–492.
http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=9&IType=11
1. INTRODUCTION
A hybrid electric Tricycle (HET) is a type of hybrid vehicle that combines a conventional
internal combustion engine (ICE) system such as two stroke petrol engine with an electric
BLDC Motor. The presence of the electric power vehicle is intended to achieve either better
fuel economy than a conventional vehicle for provide the better performance in real time
application.

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Modern hybrid electric tricycle make use of efficiency as well as improving technologies
such as regenerative braking system which convert the electric vehicle's kinetic energy to
electric energy, which is stored in a battery of the system . Some different types of hybrid
electric vehicles use their IC engine to generate electricity by rotating an electrical generator
to either recharge their batteries or to directly give power to the BLDC motors. Many hybrid
electric vehicles reduce idle emissions by closing down the IC engine at idle and restarting it
when needed and this is called as a start-stop system. A hybrid-electric vehicle produces less
emission from its IC engine vehicles.
Tricycle is a mode of transportation for handicapped peoples which is safe and cheaper
and it reduces the air pollution in environment. Therefore, the use of electric tricycles has
increased. Conventionally, direct current motors are used but it suffers from commutation
problem and it need frequent maintenance. The deployment of Brushless DC motor
(BLDCM) overcomes the above problem. The Brushless DC motor is electrically commutated
by power switches instead of brushes and is highly reliable since it does not have any brushes
to wear out and replace in the motor.
The proposed method employs the three input sources such as Pedal, Two stroke internal
combustion engine and BLDC motor as shown in fig 1. In this paper we discuss only, the
hybrid electric Tricycle (HET) can be run by BLDC motor with the help of PID controller
circuit. The proposed method takes the Battery as the input voltage to DC-DC power boost
converter. With the help of using Boost converter we can increase the amplitude of battery
input voltage for getting high efficiency with low ripple content of the circuit. The speed
control of the BLDC motor shall be controlled by PID controller for getting the high
reliability. The load of Tricycle can be driven by BLDC motor.
Figure 1 Block Diagram of Hybrid electric Tricycle
From Fig1, when the motor starts rotating, then the wheel of the Tri cycle also starts to
rotate. Hence the Tri cycle moves forwards with a constant speed of the BLDC motor. The
speed can be varied by the means of throttle. When the rider stops accelerating the throttle,
the BLDC motor stops and hence the Tri cycle also stops.
2. POWER BOOST CONVERTER OR STEP-UP CONVERTER
In hybrid electric tricycle the power boost converter is used, which act as a DC to DC
converter. Often, instead of direct current (DC) supply battery is used as an input source for
electric tricycle. Generally boost converter is used for to increase required input voltage for
driving the tricycle using brushless DC motor. For example, if input voltage is 50V, then the
output of boost converter is 400V. The difficulty of using battery is heavy weight and lot of
space is taken in real time application. So, if this low level of output voltage of battery shall

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be boosted back up to a required level of voltage again, by using a DC-DC power boost
converter also gives the life of the battery can be extended.
2.1. Operation of Power Boost Converter
Figure 2.1 Boost Converter Operation at Switch On
Fig 2.1 shows the power boost converter operation during the initial period of the high
frequency pulse signal is applied to the metal oxide semiconductor field effect transistor of
gate at starting period. During this time metal oxide semiconductor field effect transistor starts
conducts, forming a short circuit from the right hand side of inductor L to the negative input
supply terminal source. As a result, a current I flows between the positive and negative source
terminals through inductor L, which stores the energy in form of magnetic field of inductor L.
so there is virtually no current I flowing in the reaming of the power boost converter circuit as
the mixture of diode D, capacitor C and the load R characterize a superior impedance Z than
the path directly through the totally conducting metal oxide semiconductor field effect
transistor.
Figure 2.2 Current Path with MOSFET Off
Fig. 2.2 shows the flow of current during the low time of the switching pulse signal. As a
result, the metal oxide semiconductor field effect transistor is quickly turned OFF the fast
drop in current gives inductor L to produce a back electro motive force in the opposite side of
polarity to the voltage across inductor L during the ON period of metal oxide semiconductor
field effect transistor, to continue current flowing. As a results in two voltages of power boost
converter, the supply voltage Vin and the back electro motive force (VL) across inductor L in
sequence with each other. This superior voltage (Vin +VL), now there is no current flows

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through the metal oxide semiconductor field effect transistor, forward biases D. Thus current
flows through diode charges up capacitor C to Vin +VL minus the little forward voltage drop
across diode, and also supplies the current to the load.
Figure 2.3 Current Path with MOSFET On
Fig.2.3 shows the circuit diagram of power boost converter during metal oxide
semiconductor field effect transistor ON time after the initial current start up. During each
period of the metal oxide semiconductor field effect transistor conducts, the cathode of diode
is high positive than its anode due to the charge on capacitor C. Diode is turned OFF as a
result, the output of the power boost circuit is isolated from the input side, however the load R
continues to be supplied with Vin +VL from the charge on capacitor C. Even though the charge
capacitor C drains missing through the load during this time, capacitor C is recharged each
time the metal oxide semiconductor field effect transistor switches OFF, so the circuit
maintaining a steady state output voltage across the load R. The simulation of boost converter
and its parameters are shown in fig 2.4 and table 2.1.
Figure 2.4 Simulation circuit of power boost converter
Table 2.1 Simulation parameters of power Boost Converter
S.NO PARAMETERS VALUES
1 Input Voltage(Vin) 50
2 Duty cycle(D) 75%
3
Switching
frequency(fs) 10kHz
4 Inductor(L) 1e-3H
5 Capacitor(C) 33e-6F
6 Resistor(R) 16Ω

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3. PERMANENT MAGNET BRUSHLESS DC MOTOR (PMBLDCM)
Brushless DC Motors are run by direct current (DC) voltage but current commutation is
controlled by power electronic switches. The commutation instants of brushless direct current
motor are found by the rotor position sensor. The rotor of brushless DC motor shaft position
is sensed by a Hall Effect sensor, which gives signals to the respective switches of solid state
device [1] and [2]. Whenever the rotor magnetic poles pass near the Hall sensors, they provide
a high or low signal of BLDCM, representing either N or S pole is passing near the sensors.
The numbers shown just about the peripheral of the brushless DC motor shown in fig 3.1
represent the sensor position code.
Figure 3.1 BLDC Motor Star Connected.
The north pole of the rotor points to the rules that are output at that rotor position of the
motor. The numbers are the sensor logic levels where the most important bit is sensor C and
the least important bit is sensor A. Based on the combination of these three Hall sensor
signals, the exact sequence of commutation can be determined. These signals are decoded by
combinational logic circuit to give the firing signals for 120° conduction on each of the three
phases of BLDCM [3]. The rotor position decoder has six outputs switch which control the
upper and lower phase leg metal oxide semiconductor field effect transistor (MOSFET) of fig
3.2 [2] - [4].
Figure 3.2 Equivalent Circuit of BLDCM.

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4. PID CONTROLLER (KP , KI AND KD )
The Proportional – Integral Derivative Controller (PID) provides an error correction signal
that is directly proportional to the system error and proportional to the integral of the error
signal. The proportional signal helps the controller respond to changes in the circuit, and the
integral signal helps to reduce constant errors by integrating that signal over time. The Kp , Ki
and Kd controller constants were determined by trial and error, and the tuning process simply
amounted to changing the values while monitoring the magnitude of the Battery error signal
as shown in fig 4.1.The proportional gain, Kp= 0.013, integral gain, Ki= 30, and derivative
gain, Kd = 0.0001.
Figure 4.1 Simulation of PID Controller
5. SIMULATION OF BLDC DRIVE FOR TRICYCLE
Figure 5.1 Simulink Model of PMBLDCM for Tricycle
The Permanent Magnet Brushless DC (PMBLDC) motor is the ideal choice for
applications that require high starting torque, high reliability, better efficiency, and high
performance. Generally talking, a BLDC motor is considered to be a high performance motor
that is capable of providing large amounts of torque over a huge speed range [1]. For the
proposed electric Tricycle, BLDC hub motor is chosen and the model of the PMBLDC motor

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is simulated using Matlab / Simulink, with an input of 36V as shown in fig 5.1 and the
corresponding Hall sensor signals, Line Output voltages, Stator currents, Stator Back EMFs
waveforms are obtained as shown in Figs. 5.2-5.5 . The simulation results are proved that
with high accuracy of speed control of BLDC motor for can be achieved for Tri cycle.
Figure 5.2 Simulation result for Hall Sensor Signal performance with PID controller
Figure 5.3 Simulation result for Line Voltage performance with PID controller
Figure 5.4 Simulation result for Stator Current performance with PID controller

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Figure 5.5 Simulation result for Stator Back EMFs performance with PID controller
The fig 5.6 shows the simulation result for speed performance with PID controller. The
simulation results are taken between reference and actual speed versus time. The simulation
results show the different range of speed with respect to time period and its results are proved
that whatever we are giving the reference speed that should be matched with actual speed for
tricycle.
Figure 5.6 Shows the simulation result for speed performance with PID controller
Figure 5.7 Shows the simulation result for Torque performance with PID controller

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The fig 5.7 shows the simulation result for torque performance with PID controller for
Tricycle. The simulation results are taken between motor torques versus time period. The
simulation results show the different range of torque with respect to time period for
corresponding speed of the brushless direct current motor. The electromagnetic torque rises
up to 18N-m for without load and after applying the load to the brushless direct current motor
becomes constant at 13N-m.
6. BATTERY
Battery-Operated Tricycles are extensively demanded by physically challenged people owing
to its stylish design, easy operation with high reliability, long functional life and consistent
performance. Fig 6.1 shows the simulation result for Lithium-ion input battery performance
with PID controller for Tricycle. To Calculating how extended duration a battery will last at a
given rate of discharge is not as simple as "amp-hours” if battery capacity decreases as the
rate of discharge time increases. Table 6.1 shows the various speed ranges for three set of
input battery voltages (50V, 70V & 100V) respective of boost converter voltage along with
motor torque with battery input parameters.
Figure 6.1 (a) State of Charge (SOC) Response Characteristics (b)Battery Current Response
Characteristics (c) Battery Voltage Response Characteristics with PID controller.
Table 6.1 Output performance of Tricycle
S:N
O
BATTERY
INPUT
VOLTAG
E(V)
BOOST
CONVER
TER
VOLTAG
E(V)
REFERA
NCE
SPEED(rp
m)
ACTUAL
SPEED(r
pm)
TORQUE(
Nm)
STATE OF
CHARGE(S
OC)
BATTER
Y
OUTPUT
CURREN
T(A)
BATTERY
OUTPUT
VOLTAG
E(V)
1 50
378.3 500 493.8 6.103 79.73 94.88 101
380.1 1000 995.3 5.845 79.71 96.23 100.9
382.9 1500 1506 5.753 79.71 98.13 100.9
383.5 2000 1998 5.769 79.71 100.1 100.9
2 70
446.6 500 491.4 6.671 79.68 111.4 119.1
448.6 1000 996.9 6.411 79.67 112.6 119.1
450.7 1500 1504 6.496 79.67 114.3 119.1
450.9 2000 1995 6.543 79.67 116 119.1
3 100
495.6 500 491.2 7.06 79.65 123.3 132.1
497.6 1000 996.8 6.784 79.64 124.4 132.1
499.3 1500 1502 6.936 79.64 126 132.1
499.4 2000 1994 6.988 79.64 127.4 132.1

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7. CONCLUSIONS
The speed control of a three-phase BLDC motor for Tricycle is achieved through
MATLAB/SIMULINK during no-load and on-load conditions using PID controller is
discussed. The proposed work gives a hybrid storage system which increases the run time of
Tricycle, making the system cost-effective and easy operation with high reliability. Power
boost converter with its simple circuit, less switching losses, low ripple content is chosen for
the hardware implementation. For an input voltage of 36V, the tricycle runs at the speed of
25km/hr. Thus by using this hybrid powered electric tricycle has pollution less environment.
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