ECEN 5017 Lecture 6CU‐Boulder Announcements

• HW2 due 9am MDT, Monday, Sep. 16– Submit a single, easily readable pdf file, including all relevant analytical and simulation results via D2L

– Submit simulation files as requested, but do not assume the grader will run your simulations to generate the results

– Late work will receive no credit– Collaboration is encouraged; use the blog

1

Please disregard USU‐specific announcements in lectures recorded by Prof. Zane at USU

Review• Transportation electrification: EV, HEV, PHEV, …• Vehicle dynamics: fundamental limits, power and energy requirements, component requirements

Today• Design validation via system simulation• Component requirement and system performance analysis via drive cycle simulation

• Vehicle controller design: small‐signal analysisNext week• Continue vehicle controller design (for EV)• Introduce hybrid EV architectures

2

Review acceleration example

3

ExampleMv = 1500 kgCd = 0.26Cr = 0.01Av = 2.16 m2

x = 4 (vb = 25 MPH)rw = 0.3 m

Battery: 10 kWh

fvrfvdfba

vrequiredv gvMCvACvv

tMP 322

21

21

hp 99kW 74requiredvP

s 10atAcc. performance spec: 0‐60 mph in 

Energy Required

4

Simulation model setup

5

kWh156.0

kW3.562

hp 99kW 74s10

m/s826MPH 60

2

max

max

avavg

a

bvvvavg

v

a

f

tPEtvMPP

Pt

.vAcceleration parameters

Sim Setup

6

Drive Train Model

7

ElectricMotor Transmission

wheels(radius rw)

ne

Te

nvTv

Fv v

3-phaseInverter

DC-DCConverter

BatteryPack

BatteryCharger

Electric Drive

Pbatt PDC

IaIb

Ic

Simulation results: 100% efficiency

8

0

5000

10000

For

ce [

N]

Drive Force

Resistive Force

0 5 10 150

200

400

Cur

rent

[A

]

Inverter input current

Battery current

0 5 10 15-500

0

500

time [sec]

Mot

or c

urre

nts

[A]

0 5 10 150

1000

2000

Tor

que

[Nm

]

Motor torque

Wheel torque

Simulation results: 100% efficiency

9

0

50

100

Spe

ed [

mph

]

Reference Speed

EV Speed

0

50

100

X: 8.592Y: 74

Inst

. P

ower

[kW

]

Tractive Power,

Battery Power

0 5 10 150

0.1

0.2

X: 8.597Y: 0.1501

Bat

tery

Ene

rgy

[kW

h]

0 5 10 1598

99

100

Bat

tery

SO

C [

%]

time [sec]

Simulation results: 81% efficiency

10

0

50

100

Spe

ed [

mph

]

Reference SpeedEV Speed

0

50

100

X: 8.594Y: 90.81

Inst

. P

ower

[kW

]

Tractive Power,Battery Power

0 5 10 150

0.2

0.4

X: 8.595Y: 0.1848

Bat

tery

Ene

rgy

[kW

h]

0 5 10 1596

98

100

Bat

tery

SO

C [

%]

time [sec]

US06 Drive Cycle Simulation

11

US06 simulation results

12

-5000

0

5000

10000

For

ce [

N]

Drive Force

Resistive Force

0 100 200 300 400 500 600-200

0

200

400

Cur

rent

[A

]

Inverter input current

Battery current

0 100 200 300 400 500 600-500

0

500

time [sec]

Mot

or c

urre

nts

[A]

0 100 200 300 400 500 600-2000

0

2000

Tor

que

[Nm

]

Motor torque

Wheel torque

US06 simulation results

13

0

50

100

Spe

ed [

mph

]

Reference Speed

EV Speed

-50

0

50

100

Inst

. P

ower

[kW

]

Tractive Power,

Battery Power

0 100 200 300 400 500 6000

1

2

Bat

tery

Ene

rgy

[kW

h]

0 100 200 300 400 500 60080

90

100

Bat

tery

SO

C [

%]

time [sec]

US06: with Pe_max = 30 kW

14

0

50

100

Spe

ed [

mph

]

Reference Speed

EV Speed

-50

0

50

Inst

. P

ower

[kW

]

Tractive Power,

Battery Power

0 100 200 300 400 500 6000

1

2

Bat

tery

Ene

rgy

[kW

h]

0 100 200 300 400 500 60080

90

100

Bat

tery

SO

C [

%]

time [sec]

Vehicle controller design

15

Basic open‐loop model

16

Simplified closed‐loop model

Vehicle dynamics small‐signal model

17

2

21 vACgMCgzMF

dtdvM vdvrvvv

Loop gain analysis

18