Dynamic modeling and simulation of transmotor based series parallel
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The document describes a simulation of a transmotor-based series-parallel hybrid electric vehicle (HEV) applied to a 2004 Toyota Prius. Key aspects summarized: 1) A Simulink model was created to simulate the HEV with a transmotor replacing the planetary gear and generator of the Prius. 2) Simulation results for vehicle speed and battery state of charge were shown to match well with experimental results from a U.S. Department of Energy report. 3) The model effectively demonstrated the use of a transmotor in the drivetrain as an alternative to the planetary gear configuration in the 2004 Prius.
![ Introduction
Components Models
Topology of Transmotor Based HEV
Operating Modes
Simulink model
Simulation results
Conclusion
The 'Ts' parameter used in this model is set
to 6e-5 by the Model Properties Callbacks
Energy Management
Subsystem
ICE
Motor
Vehicle Dynamics
Hybrid Electric Vehicle (HEV)
Power Train Using Battery Model
Power Subsystem
Transmotor
1
Car Speed km/h
Discrete,
Ts = 6e-005 s.
pow ergui
Wice
Wmot
Tgen
Vg
Wgen
Igen
ICE
Motor
v
SpSns1
v
SpSen2
T
SIm/SDL1
[Th_ICE]
[Wgen]
[Tgen]
[Tbrk]
[Tmot]
[Batt]
[Igen]
[Wmot]
[Imot]
[DC_CTL]
[Wice]
[Wmot]
Torque
[Tmot]
[Batt]
[Wmot]
Power
[Wgen]
[Tgen]
[Imot]
[Igen]
Vg
[Tbrk]
[Wmot]
[Wice]
[Th_ICE]
Vm
[DC_CTL]
[Wice]
Accelerator
Batt
Wmot
Wgen
Wice
Tmot
Tgen
Tbrk
Th_ICE
DC_CTL
Car
2
Road Angle
1
Accelerator
Accelerator
Electrical Power (Motor, Generator, Battery )
Driv e torque (ref erence, measured)
Car speed (km/h)Car speed (km/h)](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)
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Dynamic modeling and simulation of transmotor based series parallel
- 1. Hiva Nasiri Ahmad Radan Abbas Ghayebloo Kiarash Ahi If you want to use these slides, please reference to our work: H. Nasiri, A. Radan, A. Ghayebloo, and K. Ahi, “Dynamic modeling and simulation of transmotor based series-parallel HEV applied to Toyota Prius 2004,” in Environment and Electrical Engineering (EEEIC), 2011 10th International Conference on, 2011, pp. 1–4. Online Access: https://www.researchgate.net/publication/235936071_Dynamic_modeling_and_simulati on_of_transmotor_based_series-parallel_HEV_applied_to_Toyota_Prius_2004
- 2. Introduction Components Models Topology of Transmotor Based HEV Operating Modes Simulink model Simulation results Conclusion The 'Ts' parameter used in this model is set to 6e-5 by the Model Properties Callbacks Energy Management Subsystem ICE Motor Vehicle Dynamics Hybrid Electric Vehicle (HEV) Power Train Using Battery Model Power Subsystem Transmotor 1 Car Speed km/h Discrete, Ts = 6e-005 s. pow ergui Wice Wmot Tgen Vg Wgen Igen ICE Motor v SpSns1 v SpSen2 T SIm/SDL1 [Th_ICE] [Wgen] [Tgen] [Tbrk] [Tmot] [Batt] [Igen] [Wmot] [Imot] [DC_CTL] [Wice] [Wmot] Torque [Tmot] [Batt] [Wmot] Power [Wgen] [Tgen] [Imot] [Igen] Vg [Tbrk] [Wmot] [Wice] [Th_ICE] Vm [DC_CTL] [Wice] Accelerator Batt Wmot Wgen Wice Tmot Tgen Tbrk Th_ICE DC_CTL Car 2 Road Angle 1 Accelerator Accelerator Electrical Power (Motor, Generator, Battery ) Driv e torque (ref erence, measured) Car speed (km/h)Car speed (km/h)
- 3. HEV : increase the efficiency of gasoline vehicles Toyota Prius: one of the first industrialized HEVs In Prius: a planetary gear provides speed coupling The planetary gear: increasing car’s overall cost and weight In this paper: Prius 2004 is simulated with Transmotor in place of planetary gear and generator
- 4. Transmotor ◦ Static Model: ◦ Dynamic Model: e r s es ms er mrT T T T ωr and ωs are outer and inner rotor speeds respectively and ωe is the inner rotor (rotor) relative speed to the outer rotor (stator)
- 5. Transmotor ◦ Static Model: ◦ Dynamic Model: ( ) qs qs s qs r s ds d v R i p dt ( )ds ds s ds r s qs d v R i p dt qs qs qsL i ds m ds dsL i 3 ( ( ) ) 2 es er qs m ds qs ds qsT T p i L L i i s es ms s s s d T T J B dt r er mr r r r d T T J B dt
- 6. ICE The model uses a look-up table for its speed-torque characteristic
- 7. Energy Management ◦ When vehicle should activate hybrid mode ◦ Which part should provide torque ◦ How much torque should be provided ◦ Mechanical brake should be used ◦ Decisions are based on SOC, speed of the vehicle and demanded power
- 8. The Engine power through Transmotor transfers to differential and combined with traction motor, provides the vehicle traction force.
- 9. Single mode: only traction motor Hybrid mode: motor and ICE ◦ When vehicle reaches a specific speed ◦ When battery’s SOC comes down to a specific percent ◦ When demanded power is higher than a specific kWh A complete drive cycle ◦ Start ◦ Accelerate ◦ Cruise ◦ Brake
- 10. The 'Ts' parameter used in this model is set to 6e-5 by the Model Properties Callbacks Energy Management Subsystem ICE Motor Vehicle Dynamics Hybrid Electric Vehicle (HEV) Power Train Using Battery Model Power Subsystem Transmotor 1 Car Speed km/h Discrete, Ts = 6e-005 s. pow ergui Wice Wmot Tgen Vg Wgen Igen ICE Motor v SpSns1 v SpSen2 T SIm/SDL1 [Th_ICE] [Wgen] [Tgen] [Tbrk] [Tmot] [Batt] [Igen] [Wmot] [Imot] [DC_CTL] [Wice] [Wmot] Torque [Tmot] [Batt] [Wmot] Power [Wgen] [Tgen] [Imot] [Igen] Vg [Tbrk] [Wmot] [Wice] [Th_ICE] Vm [DC_CTL] [Wice] Accelerator Batt Wmot Wgen Wice Tmot Tgen Tbrk Th_ICE DC_CTL Car 2 Road Angle 1 Accelerator Accelerator Electrical Power (Motor, Generator, Battery ) Driv e torque (ref erence, measured) Car speed (km/h)Car speed (km/h) MATLAB Block Diagram
- 11. Subassembly Specifications Description Value Traction motor Power 50 kW Machine type 4 pole pairs PMSM Maximum torque 400 Nm Transmotor Power 30 kW Machine type 1pole pairs PMSM Maximum torque 130 Nm ICE Power 57 kW Maximum torque 115 Nm at 4200rpm Vehicle Dynamic Mass 1325 kg Frontal area 2.57 m^2 Sample Specifications
- 12. a) Drive power b) ICE power c) Generator and battery power d) Hybrid mode indicator 0 10 20 30 40 50 60 -5 0 5 x 10 4 Drive Power(Reference, Measured)(W) 0 10 20 30 40 50 60 0 2 4 x 10 4 ICE Power(Reference, Measured)(W) 0 10 20 30 40 50 60 -2 0 2 x 10 4 Generator Power, Battery Power 0 10 20 30 40 50 60 0 0.5 1 Hybrid Mode
- 13. a) With Transmotor b) With generator and planetary gear 0 10 20 30 40 50 60 55 56 57 58 59 60 61 Time(s) SOC(%) Transmotor based HEV 0 10 20 30 40 50 60 59 60 61 62 63 64 Time (s) SOC(%) Planetary Gear (Simple Generator) Battery State of Charge (SOC)
- 14. 0 10 20 30 40 50 60 0 10 20 30 40 50 60 70 80 Time(s) VehicleSpeed(km/h) DOE result Vehicle Speed(km/h) VS Time(s) 0 10 20 30 40 50 60 0 10 20 30 40 50 60 70 80 Time(s) VehicleSpeed(km/h) Simulation result Vehicle Speed(km/h) VS Time(s) 0 10 20 30 40 50 60 0 10 20 30 40 50 60 70 80 Compared Results DOE and Simulation Time(s) VehicleSpeed(km/h)
- 15. a new series-parallel HEV topology has been dynamically modeled and simulated The model is adopted to Toyota Prius 2004 specifications according to U.S. DOE report Generator and planetary gear has been replaced by Transmotor Simulation results compared to U.S. DOE report of Toyota Prius 2004 indicates the accuracy of model
- 16. M. Ehsani, Y. Gao and A. Emadi “Modern Electric, Hybrid Electric, and Fuel Cell Vehicles: Fundamentals, Theory, and Design” SE, CRC Press, 2010, pp. 141-150. U. S. Dept. Energy, “Evaluation of 2004 Toyota Prius Hybrid Electric Drive System”Tech. Rep. ORNL/TM- 2006/423, May 2006. [Online] Available at: http://inspire.ornl.gov/OriginalDocument/f38948a5-d6a2- 4f80-8cc9- 34b77e3862a3 K. Muta, M. Yamazaki and J.Tokieda, “Development of New-Generation Hybrid System THS II – Drastic improvement of Power Performance and Fuel Economy” Tech. paper series, 2004-01-0064, Detroit, MI, March 8-11, 2004 MATLAB Simulink Software,” Hybrid Electric Vehicle model” Version 2008 and 2009
Editor's Notes
- Abstract— Pollution and limited fossil fuels are the critical issues that lead HEVs to emerge. Nowadays new designs and topologies of HEVs are suggesting and developing. In this paper we have dynamically modeled and simulated a new structure of series-parallel HEV based on a special machine named Transmotor and applied it to Toyota Prius 2004. In This structure, generator and planetary gear in common series-parallel HEV structure are replaced with a Transmotor resulting in a simpler HEV structure. Transmotor performs as a speed coupler between ICE and wheels. Performance of this structure has been compared with those given in U.S. DOE reports for Toyota Prius 2004. Keywords; Transmotor; Hybrid Electric Vehicle (HEV); Series-Parallel; Simulation;
- In recent decades dozens of papers about HEVs have been published. The main goal in HEV design is to increase the efficiency of ICE and use the wasted part of energy as much as possible. One of the first industrialized HEVs was Toyota Prius and after that various HEVs have been presented and even industrialized from Toyota Corporation and other vehicle manufactures. Toyota Prius has series-parallel topology. In normal series-parallel HEV, there is a planetary gear which provides speed coupling between Internal Combustion Engine (ICE) and vehicle wheels. The planetary gear is a mechanical device and has some drawbacks like decreasing vehicle efficiency and also increasing the car’s overall cost. In this paper we simulate a new structure of series-parallel HEV, which has no planetary gear and a Transmotor will be replaced with planetary gear and generator. The idea is based on [1] and here in this paper we simulate it in MATLAB Simulink and compare the results with US Department of Energy (DOE) report [2].
- A Transmotor Static Model: Transmotor is an electric motor with a floating stator which forms a double-rotor machine with stator as outer rotor and traditional rotor as inner rotor. Through the air gap, electric power converts into mechanical power as shown in Figure 1.The stator electrical frequency in Transmotor is the relative speed of rotor (as inner rotor) to stator(as outer rotor). According to the action and reaction effects, in steady state rotor and stator torques are the same. The speed relationship can be expressed as ωr and ωs are outer and inner rotor speeds respectively and ωe is the inner rotor (rotor) relative speed to the outer rotor (stator) and it is indeed the electrical frequency of stator windings. In steady state the torque relationship can be expressed as Transmotor used as a speed coupler [1]
- Dynamic Model: For simulation purposes, dynamic model of Transmotor have been used. The dynamic model of Transmotor is same as common synchronous PM machine but it has one extra mechanical equation for stator rotation. Equations (3)-(9) show this model.
- B ICE Model The ICE model is based on Toyota Prius 2004[3]. The model uses a look-up table for its speed-torque characteristic and according to its throttle and speed the output torque will be defined. The look-up table is presented in Figure 2[3].
- C Energy Management This is the heart of the vehicle, subsystem which most of the decisions are made in it. Energy management decides which part should provide torque and how much torque should be provided. In braking mode it decides whether the motor could provide the whole negative torque and act as a generator or mechanical brake should be used. Most of the decisions are based on SOC and speed of the vehicle.
- Topology of Transmotor Based HEV The topology we have used in this paper is shown in Figure 3 [1]. The Engine power through Transmotor transfers to wheels and combined with traction motor, provides the moving force. The Transmotor acts as a speed coupler and the gears which connect it to differential, act as a torque coupler. The whole system acts as a torque-speed coupler which decouples simultaneous speed and torque of engine from required speed and torque on wheels. Therefore this topology results in a series-parallel vehicle [1]. New topology of series-parallel HEVs with Transmotor
- Operating Modes This vehicle operates in several modes. We describe them through a start - stop drive cycle. In starting and low speeds, only traction motor provides propelling torque. In this mode the engine is off and Transmotor provides no electric energy. When vehicle reaches a specific speed (20 km/h), or when the battery’s state of charge (SOC) comes down to a specific amount (50 percent), the engine starts and Transmotor acts as a speed coupler. It transfers engine power to differential. In this mode whenever the SOC of battery gets lowered the Transmotor recharges it. In braking mode, traction motor acts as a generator and recharges the battery. If braking needs more negative torque and the traction motor could not provide it, a mechanical brake will provide the rest and act as an emergency brake.
- Simulink model The Simulink model has been shown in Figure 4. This model is based on MATLAB HEV model [4]. It consists of six main blocks; Energy management, Battery and DC-DC converter, ICE, Transmotor, Motor and Vehicle Dynamics. Specifications for this model are based on DOE report of Toyota Prius 2004 and a brief list of them has been presented in TABLE I~III [2]. Simulink model for series parallel HEV with Transmotor
- Specifications for this model are based on DOE report of Toyota Prius 2004 and a brief list of them has been presented in TABLEs [2].
- Simulation results To verify this model and simulation results, we have used US DOE report for Toyota Prius 2004 as a reference. In the Figure the Drive power (a), ICE generated power (b), generator and battery output power (c) and hybrid indicator (d) has been shown. During time intervals that drive power gets negative values, the ICE will produce no power. In braking mode, the battery gets the maximum acceptable power through traction motor (which acts as a generator) and the rest will be wasted through mechanical brake.
- Simulation results Battery SOC and the charging process in braking mode have been showed here.
- Simulation results Here in the Figure, the model output of vehicle speed is compared to related figure of DOE report. The digitized one is DOE result and the smooth one is our model result. The result shows the accuracy of the Simulink model due to DOE data.
- Conclusion In this paper we have dynamically modeled and simulated a new series-parallel HEV topology, based on a special machine named Transmotor in MATLAB Simulink. Applying the new structure to the parameters of Toyota Prius 2004, its performance indices are then compared with those given in DOE report for Toyota Prius 2004. Compared to the real Prius 2004 results published in DOE report, the results are similar and topology could be treated as a replacement for generator and planetary gear to enhance the vehicle performance and simplicity. The main drawback of the proposed topology, when compared with the usual generator based topology, is a few percents larger variation in battery SOC.
- References M. Ehsani, Y. Gao and A. Emadi “Modern Electric, Hybrid Electric, and Fuel Cell Vehicles: Fundamentals, Theory, and Design” SE, CRC Press, 2010, pp. 141-150. U. S. Dept. Energy, “Evaluation of 2004 Toyota Prius Hybrid Electric Drive System”Tech. Rep. ORNL/TM- 2006/423, May 2006. [Online] Available at: http://inspire.ornl.gov/OriginalDocument/f38948a5-d6a2- 4f80-8cc9-34b77e3862a3 K. Muta, M. Yamazaki and J.Tokieda, “Development of New-Generation Hybrid System THS II – Drastic improvement of Power Performance and Fuel Economy” Tech. paper series, 2004-01-0064, Detroit, MI, March 8-11, 2004 MATLAB Simulink Software,” Hybrid Electric Vehicle model” Version 2008 and 2009