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ELECTRICVEHICLES– MODELLINGAND SIMULATIONS EditedbySerefSoylu Electric Vehicles – Modelling and Simulations Edited by Seref Soylu Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Ivana Lorkovic Technical Editor Teodora Smiljanic Cover Designer Jan Hyrat Image Copyright AlexRoz, 2010. Used under license from Shutterstock.com First published August, 2011 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Electric Vehicles – Modelling and Simulations, Edited by Seref Soylu p. cm. 978-953-307-477-1 free online editions of InTech Books and Journals can be found at www.intechopen.com Contents Preface IX Chapter 1 Electrical Vehicle Design and Modeling 1 Erik Schaltz Chapter 2 Modeling and Simulation of High Performance Electrical Vehicle Powertrains in VHDL-AMS 25 K. Jaber, A. Fakhfakh and R. Neji Chapter 3 Control of Hybrid Electrical Vehicles 41 Gheorghe Livinţ, Vasile Horga, Marcel Răţoi and Mihai Albu Chapter 4 Vehicle Dynamic Control of 4 In-Wheel-Motor Drived Electric Vehicle 67 Lu Xiong and Zhuoping Yu Chapter 5 A Robust Traction Control for Electric Vehicles Without Chassis Velocity 107 Jia-Sheng Hu, Dejun Yin and Feng-Rung Hu Chapter 6 Vehicle Stability Enhancement Control for Electric Vehicle Using Behaviour Model Control 127 Kada Hartani and Yahia Miloud Chapter 7 FPGA Based Powertrain Control for Electric Vehicles 159 Ricardo de Castro, Rui Esteves Araújo and Diamantino Freitas Chapter 8 Global Design and Optimization of a Permanent Magnet Synchronous Machine Used for Light Electric Vehicle 177 Daniel Fodorean Chapter 9 Efficient Sensorless PMSM Drive for Electric Vehicle Traction Systems 199 Driss Yousfi, Abdelhadi Elbacha and Abdellah Ait Ouahman VI Contents Chapter 10 Hybrid Switched Reluctance Motor and Drives Applied on a Hybrid Electric Car 215 Qianfan Zhang, Xiaofei Liu, Shumei Cui, Shuai Dong and Yifan Yu Chapter 11 Mathematical Modelling and Simulation of a PWM Inverter Controlled Brushless Motor Drive System from Physical Principles for Electric Vehicle Propulsion Applications 233 Richard A. Guinee Chapter 12 Multiobjective Optimal Design of an Inverter Fed Axial Flux Permanent Magnet In-Wheel Motor for Electric Vehicles 287 Christophe Versèle, Olivier Deblecker and Jacques Lobry Chapter 13 DC/DC Converters for Electric Vehicles 309 Monzer Al Sakka, Joeri Van Mierlo and Hamid Gualous Chapter 14 A Comparative Thermal Study of Two Permanent Magnets Motors Structures with Interior and Exterior Rotor 333 Naourez Ben Hadj, Jalila Kaouthar Kammoun, Mohamed Amine Fakhfakh, Mohamed Chaieb and Rafik Neji Chapter 15 Minimization of the Copper Losses in Electrical Vehicle Using Doubly Fed Induction Motor Vector Controlled 347 Saïd Drid Chapter 16 Predictive Intelligent Battery Management System to Enhance the Performance of Electric Vehicle 365 Mohamad Abdul-Hak, Nizar Al-Holou and Utayba Mohammad Chapter 17 Design and Analysis of Multi-Node CAN Bus for Diesel Hybrid Electric Vehicle 385 XiaoJian Mao, Jun hua Song, Junxi Wang, Hang bo Tang and Zhuo bin Chapter 18 Sugeno Inference Perturbation Analysis for Electric Aerial Vehicles 397 John T. Economou and Kevin Knowles Chapter 19 Extended Simulation of an Embedded Brushless Motor Drive (BLMD) System for Adjustable Speed Control Inclusive of a Novel Impedance Angle Compensation Technique for Improved Torque Control in Electric Vehicle Propulsion Systems 417 Richard A. Guinee Preface Electric vehicles are becoming promising alternatives to be remedy for urban air pollution, green house gases and depletion of the finite fossil fuel resources (the challenging triad) as they use centrally generated electricity as a power source. It is well known that power generation at centralized pl ants are much more efficient and their emissions can be controlled much easier than those emitted from internal combustionengines thatscatteredallovertheworld.Additionally,anelectricvehicle can convert the vehicle’s kinetic energy to electrical energy and store it during the brakingandcoasting. Allthebenefitsofelectricalvehiclesarestarting tojustify,acenturylater,attentionof industry, academia and policy makers again as promising alternatives for urban transport.Nowadays,industryandacademiaarestrivingtoovercome thechallenging barriersthatblockwidespreaduseofelectricvehicles.Lifetime,energydensity,power density, weight and cost of battery packs are major barriers to overcome. However, modeling and optimization of other components of electric vehicles are also as important as theyhave strong impacts on theefficiency, drivability and safety of the vehicles.Inthissensethereisgrowingdemandforknowledgetomodelandoptimize theelectricalvehicles. In this book, modeli ng and simulation of electric vehicl es and their components have been emphasized chapter by chapter with valuable contribution of many researchers who work on both technical and regulatory sides of the field. Mathematical models for electrical vehicles and their components were introduced and merged together to make this book a guide for industry, academia and policy makers. To be effective chapters of the book were de signed in a logical order.It started with the examination ofdynamicmodels andsimulation results for electricalvehicles and tractionsystems.Then, modelsforalternativeelectricmotorsanddrivesystemswere presented. After that, models for power electronic components and various control systems were examined. Finally, to establish the required knowledge as a whole, an intelligentenergymanagementsystemwasintroduced. X Preface Astheeditorofthisbook,Iwouldliketoexpressmygratitudetothechapterauthors for submitting such valuable works that were already published or presented in prestigious journals andconferences. I hopeyou will getmaximum benefitfromthis booktotaketheurbantransportsystemtoa sustainablelevel. SerefSoylu,PhD SakaryaUniversity,DepartmentofEnvironmentalEngineering,Sakarya, Turkey [...]... architectures of an electric vehicle exist (Chan et al., 2010) as there are many possibilities, e.g., 1 to 4 electric machines, DC or AC machines, gearbox/no gearbox, high or 2 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 2 low battery voltage, one or three phase charging, etc However, in this chapter the architecture in Fig 1 is chosen The purpose of the different components in Fig 1... 316 W 857 W Table 1 Average power level of the auxiliary loads of the vehicle The values are inspired from (Ehsani et al., 2005; Emadi, 2005; Lukic & Emadi, 2002) 4 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 4 2.4 Transmission From Fig 1 it can be understood that the torque, angular velocity, and power of the transmission system are given by the following equations: τt =... = 8 ˆ 2Vp , mi = VBat pQ,Inv = mi 3π mi 3π ˆ2 RQ,Inv Ip + ˆ2 RD,Inv Ip + m 1 ˆ + i cos(φEM ) VQ,th,Inv Ip 2π 8 m 1 ˆ − i cos(φEM ) VD,th,Inv Ip 2π 8 (17) (18) (19) 6 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 6 Fig 3 Circuit diagram of inverter where pQ,Inv [W] Power loss of one switch pD,Inv [W] Power loss of one diode φEM [rad] Power factor angle ˆ Ip [A] Peak phase current... 10 9 8 7 6 RBat,cell,dis = a10 DoDBat + a9 DoDBat + a8 DoDBat + a7 DoDBat + a6 DoDBat 5 4 3 2 + a5 DoDBat + a4 DoDBat + a3 DoDBat + a2 DoDBat + a1 DoDBat + a0 (24) 8 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 8 10 9 8 7 6 vBat,int,cell = b10 DoDBat + b9 DoDBat + b8 DoDBat + b7 DoDBat + b6 DoDBat 5 4 3 2 + b5 DoDBat + b4 DoDBat + b3 DoDBat + b2 DoDBat + b1 DoDBat + b0 10 9... The power equations of the boost converter are therefore given by PRF = VRF iRF = PBC + PLoss,BC (31) PBC = VBat iBC (32) PLoss,BC = 2 RBC iRF + Vth,BC iRF , (33) 10 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 10 where PRF PBC PLoss,BC VRF Vth,BC RBC iRF iBC [W] [W] [W] [V ] [V ] [Ω] [ A] [ A] Input power of boost converter Output power of boost converter Power loss of boost... i_BC [A] Boost converter model v_Bat [V] p_EM [W] I_p_peak [A] 12 0 From Workspace1 [t d_v_car_dt] From Workspace [t v_car] w_s [rad/s] w_s [rad/s] v_vehicle [km/h] 12 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH Fig 8 Matlab/Simulink implementation of the battery electric vehicle Electrical Vehicle Modeling and Modeling Electrical Vehicle Design and Design 13 13 The three sub-processes... settles to NBat,p = 6, as this is the minimum number of parallel strings which ensures that both the state-of-charge and maximum current requirements are fulfilled 14 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 14 Minimum state-of-charge min (SoCBat ) [−] 0.6 1 0.5 3 0.4 0.3 (a) 6 4 0.2 SoCBat,min 0.1 0 2 3 5 4 5 6 7 8 Number of parallel strings NBat,p [−] 9 Maximum cell discharge... Ps,max ωs ηEM,b 0.06 Ps,max Bv = 2 ωs ηEM,b τc = (47) (48) The nominal electro mechanical torque is: τs,max aEM = τc + Bv ωs,nom + τs,cont τs,cont = (49) τe,cont (50) 16 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 16 The machine will be designed at nominal speed ωs,nom, maximum power Ps,max , and minimum bus voltage VBus,min The speed is approximately proportional to the terminal... IGrid,max = 16 A The maximum grid power and rectifier current are therefore √ 3 3 = 10.6 kW (62) V I PGrid,max = π LL Grid,max 3 = 19.6 A (63) IRF,max = I 2 Grid,max 18 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 18 It is assumed that the rectifier has an efficiency of ηRF,nom = 0.98 at maximum grid power The switch-on resistance can therefore be calculated from Equation 36: 2 PRF,max... grid RMS-current can therefore from Equation 34 be calculated as ⎧ ⎪ 2 i∗ ∗ ⎨ 3 RF , 2 iRF < IGrid,max 3 IGrid = ⎪ ⎩ IGrid,max , 2 i ∗ ≥ IGrid,max 3 RF (79) (80) 20 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 20 Glider mass Wheel radius Front area Aerodynamic drag coefficient Mglider 670 kg rw 0.2785 m Afront 1.68 m2 Cdrag 0.3 Table 4 Parameters of the vehicle used for the . ELECTRICVEHICLES– MODELLINGAND SIMULATIONS EditedbySerefSoylu Electric Vehicles – Modelling and Simulations Edited by Seref Soylu Published. hard copies can be obtained from orders@intechweb.org Electric Vehicles – Modelling and Simulations, Edited by Seref Soylu p. cm. 978-953-307-477-1 free online editions of InTech. body diagram of the forces (thick arrows) acting on the car. 2 Electric Vehicles – Modelling and Simulations Electrical Vehicle Design and Modeling 3 The traction force of a vehicle can be described
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