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Modeling A Hybrid Electric Vehicle and Controller To Optimize System Performance
Modeling A Hybrid Electric Vehicle and Controller To Optimize System Performance
Ref.
Voltage r
+ oll e Real Axis Frequency
- o ntr
C
l l er
+ tr o
Ref. -
Steve Miller
Technical Marketing, Physical Modeling Tools
The MathWorks GmbH, Munich, Germany
Steve.Miller@mathworks.de
Key Results
2
Agenda
3
System Optimization Challenge
4
HEV Electromechanical System
Three-Phase
Battery Bridge
Braking
Chopper SimDriveline
Simscape
SimPowerSystems SimPowerSystems SimPowerSystems
Simulink Simulink Simulink
5
Simscape
SimHydraulics®
SimMechanics
SimPowerSystems
SimDriveline
Extension of Simulink® designed
to model multidomain physical Simscape
systems MATLAB®, Simulink®
A B
Eases process of modeling
physical systems
– Does not require deriving and
programming the equations of T P T
motion for the system
Used by system engineers and
control engineers to build a
model representing the physical V+
structure of the system
V-
6
Electrical System in SimPowerSystems
Permanent Magnet
Synchronous Motor Drive
– Speed controller
– Vector controller
– Inverter
– Permanent magnet
synchronous motor
– Braking chopper
Implemented through
SimPowerSystems in the
Simulink environment
SimPowerSystems Blocks
7
Mechanical System in SimDriveline
Transmission System
Vehicle
– Input Torque Transmission Inertia
– Transmission
– Vehicle Inertia Input Wheel
Implemented in Torque Speed
SimDriveline within the
Simulink environment
SimDriveline Blocks
8
Agenda
9
Linking Specification and Design
Situation:
HEV Requirements
1. Drivetrain System
Layout
Part Numbers
Situation:
HEV Requirements
1. Drivetrain System
Wheel Speed
5% Setting Time
in 0.5 Sec
12
Agenda
13
Possibilities for System Optimization
Linearized model Nonlinear model
– Linearize system via Simulink – Specify response
Control Design characteristics
– Perform linear control design with – Automatic tuning via
Control System Toolbox and Simulink Response
Simulink Response Optimization Optimization
– Retest in nonlinear system r
ol le
+ nt r
er
- Co
+- t roll
n
Co
Ax+Bu
Root Locus Bode Plot
Model:
Ref.
Voltage l er
+ ol
- o ntr
C
r
+ oll e
Ref. - o ntr
C
Speed
ge d
lta an
lta s
Steps to Design Controller
ge
Vo mm
Vo Bu
l er
o
l
C
1) Identify control loops +
- ntr o
Co
d d
ee le
ee an
of interest
Sp hic
d
Sp m
Ve
r
om
oll e
C
+
- o ntr
C
2) Identify operating point
5) Test controller in
nonlinear system
Real Axis Frequency
16
System Optimization On Linear Plant
17
System Optimization On Nonlinear Plant
Model:
Ref.
Voltage l er
l
+
- ntr o
Co
r
+ oll e
Ref. - o ntr
C
Speed
19
Control Design On Nonlinear Plant
20
Summary
21
Agenda
22
MathWorks Physical Modeling Tools Booth
(HEV Example, Other Tools)
23
Physical Modeling Master Class
(Wednesday, 10:30 – 12:00)
Simulink
Plant Model
Production
C-Code
24
Thank You For
Your Attention!