Dynamic Modeling and Simulation of Transmotor Based Series-Parallel HEV Applied to Toyota Prius 2004

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_simulation_of_transmotor_based_series-parallel_HEV_applied_to_Toyota_Prius_2004

Introduction Components Models Topology of Transmotor Based HEV Operating Modes Simulink model Simulation results Conclusion

Index

The 'Ts' parameter used in this model is set to 6e-5 by the Model Properties Callbacks

Energy ManagementSubsystem

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

ICEMotor

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)

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

Introduction

Transmotor◦Static Model:◦ Dynamic Model:

Components Models

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)

Transmotor◦ Static Model:

◦Dynamic Model:

Components Models

( )qsqs s qs r s ds

dv R i p

dt

( )dsds s ds r s qs

dv R i p

dt

qs qs qsL i

ds m ds dsL i

3( ( ) )

2es er qs m ds qs ds qsT T p i L L i i

ses ms s s s

dT T J B

dt

rer mr r r r

dT T J B

dt

ICE

Components Models

The model uses a look-up table for its speed-torque characteristic

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

Components Models

Topology of Transmotor Based HEV

The Engine power through Transmotor transfers to differential and combined with traction motor, provides the vehicle traction force.

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

Operating Modes

MATLAB Simulink model

The 'Ts' parameter used in this model is set to 6e-5 by the Model Properties Callbacks

Energy ManagementSubsystem

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

ICEMotor

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

MATLAB Simulink model

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

a) Drive power

b) ICE power

c) Generator and battery power

d) Hybrid mode indicator

Simulation results

0 10 20 30 40 50 60-5

0

5x 10

4 Drive Power(Reference, Measured)(W)

0 10 20 30 40 50 60

0

2

4

x 104 ICE Power(Reference, Measured)(W)

0 10 20 30 40 50 60

-2

0

2

x 104 Generator Power, Battery Power

0 10 20 30 40 50 600

0.5

1

Hybrid Mode

a) With Transmotor

b) With generator and planetary gear

Simulation results

0 10 20 30 40 50 6055

56

57

58

59

60

61

Time(s)

SOC(%) Transmotor based HEV

0 10 20 30 40 50 6059

60

61

62

63

64

Time (s)

SOC(%) Planetary Gear (Simple Generator)

Battery State of Charge (SOC)

Simulation results

0 10 20 30 40 50 600

10

20

30

40

50

60

70

80

Time(s)

Veh

icle

Spe

ed(k

m/h

)

DOE result Vehicle Speed(km/h) VS Time(s)

0 10 20 30 40 50 600

10

20

30

40

50

60

70

80

Time(s)

Veh

icle

Spe

ed(k

m/h

)

Simulation result Vehicle Speed(km/h) VS Time(s)

0 10 20 30 40 50 600

10

20

30

40

50

60

70

80Compared Results DOE and Simulation

Time(s)

Vehi

cle

Spee

d(km

/h)

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

Conclusion

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

References