21EE4175 & Electric and Hybrid

Vehicles

Dr. C.R.Edwin Selva Rex

Associate professor
 Introduction
 Energy management strategies play a crucial role in
optimizing the performance and efficiency of hybrid and
electric vehicles (HEVs and EVs).
 These strategies involve the control and distribution of
energy from various sources (e.g., internal combustion
engine, battery, regenerative braking) to maximize vehicle
performance while minimizing energy consumption and
emissions
 Classification
 The EMS can be classified into following broad categories
◦ Rule based
◦ Optimization based
 The Rule Based strategies consist of following
subcategories:
◦ Fuzzy based: The fuzzy based control strategies are of
three types
 Predictive,
 Adaptive
 Conventional
 Classification
 Deterministic Control: The deterministic controllers are
subdivided into
 State Machine
 Power follower
 Thermostat Control
 Classification
 The Optimization based strategies are of following types:
◦ Global Optimization: The global optimization methods are:
 Linear programming methods
 Dynamic Programming
 Stochastic Dynamic Programming
 Genetic Algorithms
◦ Real time Optimization: The real time optimization techniques are of
following types:
 EFC minimization
 Robust control
 Model predictive
Classification
 Classification
 Basic Principles of Rule Based Control
Methods:
◦ Rule based control strategies can cope with the
various operating modes of HEV. The rule-based
strategies are developed using engineering insight
and intuition, analysis of the ICE efficiency charts
shown in Figure and the analysis of electrical
component efficiency charts.
Classification
Classification
 Classification
 An example of developing rule-based strategy can
be explained using the ICE efficiency map shown in
Figure 3. The lines, which are drawn using
engineering insight and intuition, divide the map into
three regions: A, B, and C. The rules for operation of
ICE in these three regions are:
◦ In the region A only, EM is used because in this region
the fuel efficiency of the ICE is poor.
◦ In region B only ICE is used since this the region of high
fuel efficiency.
◦ In region C both ICE and EM are used
 Classification
 Deterministic Rule Based Strategies
 Heuristic strategies depend on a set of rules
to determine the control action at each
time instant.
 The rules are designed in accordance with
intuition, human expertise, and/or
mathematical models and, usually, without
prior knowledge of any driving information.
 Classification
 The most commonly used strategies are:
◦ Thermostat (on/off) control
◦ Power follower control
◦ Modified power follower
◦ State Machine based controller
 Classification
 Thermostat (on/off) control
◦ The thermostat (on/off) control strategy is
robust, simple, and easy to realize.
◦ In the thermostat strategy, ICE operates at its
highest efficiency point once it turns on, while
the battery’s state-of-charge (SOC) is always
maintained between its preset upper and lower
bounds by turning ICE on or off.
 Classification
 Power Follower Strategy
◦ The power follower control strategy is popular and
has been successfully applied in commercial HEVs
◦ Compared to the thermostat strategy, the power
follower strategy is applicable to both parallel HEVs
and series – parallel HEVs.
◦ The major disadvantage is that the overall efficiency
of the powertrain is not optimal, and the emission
control is not directly considered.
 Classification
 The rules for the power follower control
strategy are set up based on the following
heuristics:
◦ Below a certain minimum vehicle speed, only the
electric motor is used;
◦ if the demanded power is greater than the
maximum engine power at its operating speed,
the motor is used to produce excess power;
 Classification
◦ The motor charges the batteries by regenerative
braking;
◦ The engine shuts off when the power demand
falls below a limit at the operating speed to
prevent inefficient operation of the engine; and
◦ If the battery’s SOC is lower than its minimum
allowable value, the engine should provide
additional power to replenish the battery via the
electric motor/generator.
 Classification
 Modified Power Follower Strategy
◦ The main goal of this approach is to optimize
both energy use and emission by the
introduction of a cost function representing
overall fuel consumption and emissions at all
candidate operating points.
◦ This control strategy uses a time-averaged speed
to find instantaneous energy use and emission
targets.
 Classification
 Modified Power Follower Strategy
◦ The main goal of this approach is to optimize
both energy use and emission by the
introduction of a cost function representing
overall fuel consumption and emissions at all
candidate operating points.
◦ This control strategy uses a time-averaged speed
to find instantaneous energy use and emission
targets.
 Classification
 State Machine based controller
 In this strategy, the transition between
operating modes, such as ENGINE, BOOST,
CHARGING, etc., is determined by a state
machine that is based on vehicle operating
conditions, change in driver demand, and any
system fault
 Classification
 Fuzzy Logic Approach
 The fuzzy logic theory is unique in its ability to
simultaneously handle numerical data and linguistic
knowledge.
 Fuzzy sets represent linguistic labels or term sets
such as slow, fast, low, medium, high, and so forth.
 Fuzzy logic is a form of multivalued logic derived
from fuzzy set theory to deal with reasoning that is
approximate rather than precise.
 Fuzzy logic enables the development of rule-based
behavior.
 Classification
 Fuzzy Logic Approach
 The knowledge of an expert can be coded in
the form of a rule and used in decision making
 The fuzzy logic controller (FLC) is an
extension of the conventional rule-based
controller.
 The main advantages of the fuzzy logical
approach are its robustness to measurement
noises and component variability along with its
adaptation
 Classification
 Conventional Fuzzy Control Strategy
 Efficiency is decided based on the selection of input, output, and
rule-based control strategy.
 Two operating modes, namely, optimize fuel use and fuzzy
efficiency modes, are used to control drive train operation.
 The fuzzy logic controller accepts battery SOC and the desired
ICE torque as inputs.
 Based on these inputs as well as the selected mode, the ICE
operating point is set.
 The power required by the electric traction motor is the
difference of total load power required and power required
from ICE.
 Classification
 Adaptive Fuzzy Control Strategy
 This strategy can optimize both fuel efficiency and
emissions simultaneously.
 However, fuel economy and emissions are conflicting
objectives, which means that an optimal solution cannot
be achieved by satisfying all the objectives.
 The optimal operating point can be obtained using
weighted-sum approach optimization of conflicting
objectives.
 Due to various driving conditions, appropriate weights
have to be tuned for fuel economy and emissions.
 Classification
 Predictive Fuzzy Control Strategy
 If the information on the driving trip is a priori known, it
is extremely trivial to obtain a global optimum solution,
to minimize fuel consumption and emissions.
 However, the primary obstacles entail acquiring further
information on planned driving routes and performing
real-time control.
 This problem can be resolved using global positioning
system (GPS) which can easily identify the probable
obstacles like heavy traffic or a steep grade.
 The control strategies can be developed for specific
situations;
 Classification
 Optimization-Based Control Strategy
 In optimization-based control strategies, the goal of a
controller is to minimize the cost function.
 The cost function (objective function) for an HEV may
include the emission, fuel consumption, and torque
depending on the application.
 Global optimum solutions can be obtained by
performing optimization over a fixed DC.
 These control techniques do not result in real-time
energy management directly, but, based on an
instantaneous cost function, a real-time control strategy
can be obtained.
 Classification
 Global Optimization
 A global optimization technique for energy
management strategy in an HEV requires the
knowledge of entire driving pattern which includes
battery SOC, driving conditions, driver response,
and the route.
 Due to computational complexity, they are not
easily implementable for real-time applications.
 Linear programming, dynamic programming, genetic
algorithms, and so forth are used here to resolve
vehicle energy management issues.
 Classification
 Linear Programming
 The fuel economy optimization is considered
as a convex nonlinear optimization problem,
which is finally approximated by linear
programming method.
 Linear programming is mostly used for fuel
efficiency optimization in series HEVs.
 Formulation of fuel efficiency optimization
problem using linear programming may result
in a global optimal solution.
 Classification
 Dynamic Programming
 Dynamic programming helps determine the optimal
distribution of power between the electric motor
and the internal combustion engine (ICE) in hybrid
vehicles.
 By considering factors like driving conditions,
battery state of charge, and power demand, dynamic
programming can find the most efficient control
strategy to minimize fuel consumption or emissions
while maintaining performance.
 Classification
 Stochastic Dynamic Programming
 Stochastic strategy is a framework for modelling, optimization
problems that involve uncertainty.
 In this strategy, an infinite-horizon stochastic dynamic
optimization problem is formulated.
 The power demand from the driver is modelled as a random
Markov process.
 The Markov driver model predicts the future power demands
by generating the probability distribution for them.
 The past decisions are not required for this prediction. The
optimal control strategy is then obtained using stochastic
dynamic programming
 Classification
 Stochastic Dynamic Programming
 Optimization method which uses random variables
to formulate an optimization problem is called
stochastic optimization.
 In dynamic programming if either state or decision is
known in terms of probability function, it is called
stochastic dynamic programming (SDP).
 A high performance computing technique is
required to solve the stochastic optimal control
problem
 Classification
 Genetic Algorithm
 Genetic algorithm (GA) is a heuristic search
algorithm to generate the solution to
optimization and search problems.
 Thus a branch of artificial intelligence is
inspired by Darvin’s theory of evolution. GA
begins with a set of solutions
(chromosomes) called a population.
 Classification
 Real-Time Optimization
 Due to the causal nature of global optimization
techniques, they are not suitable for real-time analysis.
 Therefore, global criterion is reduced to an
instantaneous optimization, by introducing a cost
function that depends only on the present state of the
system parameters.
 Global optimization techniques do not consider
variations of battery SOC in the problem.
 Hence, a real-time optimization is performed for power
split while maintaining the battery charge.