Modeling and Simulation of Electric Vehicle using

MATLAB
2024 OPJU International Technology Conference (OTCON) on Smart Computing for Innovation and Advancement in Industry 4.0 | 979-8-3503-7378-3/24/$31.00 ©2024 IEEE | DOI: 10.1109/OTCON60325.2024.10687624

Neeraj Kumar Bahuguna Govind Sati Raj Gusain

Department of Electrical Engineering Department of Instrumentation Propagation Research Lab,
GB Pant University of Agriculture and Engineering Department of Electronics &
Technology Vaaman Engineers India Ltd. Communication Engineering
Pantnagar India Hindustan Zinc PMP Graphic Era (Deemed to be University)
[email protected] Pantnagar India Dehradun India
[email protected] [email protected]

Anurag Vidyarthi Rishi Prakash R. Gowri

Propagation Research Lab, Propagation Research Lab, Department of Computer Science
Department of Electronics & Department of Electronics & Engineering
Communication Engineering Communication Engineering Graphic Era Hill University
Graphic Era (Deemed to be University) Graphic Era (Deemed to be University) Dehradun India
Dehradun India Dehradun India [email protected]
[email protected] [email protected]

Abstract— With the progression of technology, the

automobile industry has experienced a significant
transformation due to the emergence of Electric Vehicles
(EVs). EVs offer a sustainable means of transportation
that doesn't harm the environment. The decline of global
oil reserves and the detrimental effects of air pollution
caused by conventional motor vehicles have motivated
numerous researchers to explore alternative energy
sources for vehicle propulsion. This study aims to Fig. 1. (a) Block Diagram of Electrical Vehicle
investigate power flow calculations to ensure that the move. Industry studies battery chargers are another key
amount of electrical energy aligns with the requirements component required for the emergence and acceptance of
of the electric vehicle. Using MATLAB/Simulink BEVs and PHEVs [1].
software, a model of a small electric vehicle is designed to
achieve optimal power flow response within the EV There are different types of electric vehicles available today,
energy system and this article outlines the process of including battery electric vehicles (BEVs) that run solely on
modeling an Electric Vehicle using MATLAB and electric power, plug-in hybrid electric vehicles (PHEVs) that
Simulink, elucidating different components such as the combine an electric motor with a conventional engine, and
Motor Model, Battery Model, Power Model, and hybrid electric vehicles (HEVs) that primarily rely on an
Regenerative System. By employing Simulink, the internal combustion engine but also utilize an electric motor
designed Electric Vehicle is simulated, and important for assistance [9]-[15].
metrics such as Motor Torque, Vehicle Speed, and State In the present context, there is a high demand for energy,
of Charge of the Battery are calculated using a given which is continuously increasing. The usage of this energy in
Driving Cycle. The collected data is then analyzed to automobiles results in the significant release of carbon
enhance the model's performance. dioxide ( )gas. The impact of on the environment is
Keywords—Electrical Vehicle, MATLAB, Speed, Distance. substantial [2]. The primary challenge lies in reducing
emissions, which can be achieved through the adoption
I. INTRODUCTION of environmentally friendly vehicles such as electric vehicles
(EVs).
Over the past decade, the depletion of oil resources and the
The basic block diagram of electric vehicle is shown in Fig.
rise in environmental concerns have spurred global
1. The basic building blocks are explained below:
discussions in the automotive industry to explore sustainable
and cleaner energy alternatives. With the rapid increase in A. Electrical Energy Storage System: This component
demand and production rates for finite fossil fuels, the need typically consists of one or more batteries that store electrical
for viable solutions has become urgent. Electric vehicles energy used to power the electric vehicle.
(EVs) have emerged as a potential short-term solution to B. Power Electronics: The power electronics system manages
improve energy efficiency and reduce harmful emissions [1]- the flow of electricity between the battery and the electric
[8]. Electric vehicles are powered by rechargeable batteries, motor. It includes components such as inverters, converters,
which store electrical energy that is used to drive the motor(s) and controllers.
and propel the vehicle forward. These batteries can be
charged by plugging the vehicle into an electrical outlet or C. Electric Motor: The electric motor converts electrical
specialized charging station. The stored energy in the energy from the battery into mechanical energy, providing the
batteries is converted into mechanical energy by the electric propulsion for the vehicle.
motor(s), which turns the wheels and enables the vehicle to D. Transmission: In some electric vehicles, a transmission
system may be present to optimize power delivery from the
electric motor to the wheels.

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 E. Wheels: The wheels receive the rotational force from the
electric motor via the transmission (if present) and enable the
vehicle to move.
EV systems may include additional components such as
regenerative braking systems, charging infrastructure, and
various sensors and control systems for safety and efficiency.
Fig. 2. EV diagram with specification parts
II. DESIGN
MATLAB is a widely used software tool for simulation and components. we would model the behavior of the electric
modeling in various fields, including electrical engineering. motor, including torque-speed characteristics, efficiency, and
When it comes to simulating and modeling electrical vehicles control algorithms.
(EVs) in MATLAB, it involves creating a mathematical C. Energy Management System: An important aspect of EV
representation of an EV system and simulating its behavior simulation modeling is the energy management system
under different conditions. Fig. 2 shows the specification (EMS), which determines how the available energy from the
diagram of electrical vehicle. battery is used to meet the vehicle's power demands
To perform MATLAB simulation modeling of an EV, we efficiently. The EMS includes algorithms for controlling
typically consider the following components: motor torque, battery charging and discharging, regenerative
braking, and optimizing power flow.
A. Vehicle Dynamics: This involves modeling the mechanical
behavior of the EV, such as the movement, acceleration, and D. Control Systems: EVs rely on various control systems for
braking. we can represent the vehicle dynamics using smooth operation. These include traction control, anti-lock
mathematical equations and vehicle parameters like mass, braking systems (ABS), stability control, and other safety
inertia, tire characteristics, and aerodynamics. following features. Modeling and simulating these control systems in
equation shows the dynamic behavior of vehicle body MATLAB allows you to assess their performance and
optimize their parameters. Different strategies of
= − . (1) quantification and distribution of braking forces are treated
= ( + ) (2) [3]. These strategies should have a direct impact on the
vehicle stability and maneuverability.
= ( + ) . ( + ) (3) E. Environment and Driving Profiles: To simulate real-world
scenarios, you need to consider the driving conditions and
Zero normal acceleration and zero pitch torque determine the environmental factors. This includes modeling road profiles,
normal force on each front and rear wheel. traffic scenarios, and weather conditions. MATLAB provides
( !"#.$%&'!"() )!*."#.+,$' tools to generate driving profiles or use real-world data to
= (4)
&(-!*) accurately represent different driving conditions.
! ( !"#.$%&'!"() )!-."#.+,$'
= (5) III. SIMULATION
&(-!*)
Once we have the mathematical models for the vehicle
At normal forces wheel satisfy the following equation. dynamics, powertrain system, energy management, and
+,$' control systems, we can integrate them in MATLAB and
+ = (6)
& simulate the behavior of the EV.
Where,
A. Battery Model
G is gravitational acceleration, Β is incline angle, M is mass
of the vehicle, H is height of vehicle center of gravity (CG) The battery model may include its voltage, current, and state
above the ground, a & b are distance of front and rear axles, of charge (SOC) dynamics.
respectively, from the normal projection point of vehicle CG
onto the common axle plane. Vx is velocity of the vehicle,
when Vx > 0, the vehicle moves forward. When Vx < 0, the
vehicle moves backward. Vw is wind speed, When Vw > 0, the
wind is headwind. When Vw < 0, the wind is tailwind. N is
number of wheels on each axle, Fxf and Fxr =Longitudinal
forces on each wheel at the front and rear ground contact Fig. 3. Circuit diagram of a battery
points, respectively. Fzf and Fzr are normal load forces on each
wheel at the front and rear ground contact points, respectively As the battery needs to be recharged, it is necessary to build
A is effective frontal vehicle cross-sectional area, Cd is a recharging structure [4] as shown in Fig. 3. The battery
aerodynamic drag coefficient, Ρ is mass density of air, and Fd model [5] uses the current load and battery state of charge to
is aerodynamic drag force. determine dc bus voltage. Following equations are used to
model the battery.
B. Powertrain System: The powertrain system of an EV
consists of the electric motor, battery, and other associated ./0 = 1 − 2 3 4.5 (7)
4.5
6.78 = 2 3 (8)
9.( = 1 − 2: 3 (9)

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 %(<).0(%(<))
3 = 34 + ; 9@ (10)
/0 =>? (<)

where, ./0 is the multiplier for battery nominal capacity,

.74 is the multiplier for battery series resistance, .( is the
multiplier for voltage V1, N is the number of discharge cycles
completed, 34 is the number of full discharge cycles
completed before the start of the simulation, AH is the rated
battery capacity in ampere-hours, i(t) is the instantaneous
battery output current, and H(i(t)) is the Heaviside function of
the instantaneous battery output current. This function returns
0 if the argument is negative, and 1 if the argument is positive. Fig. 5. Forces on Electrical Vehicle
k1, k2 and k3 are 1e-2, 1e-3, and 1e-3 respectively.
C. Hill Climbing Force: Hill Climbing Force (Fhc) refers to
B. Motor and Drive System Modeling the force required to propel the vehicle uphill. When an EV
Model the electric motor and its drive system in MATLAB travels on an incline or a hill, it experiences additional
using appropriate mathematical models [6]. resistance due to the gravitational force acting against its
motion. To maintain a constant speed while driving uphill, the
electric motor must exert enough force to overcome this
resistance and continue moving forward. The Hill Climbing
Force is calculated using the following equation:
+ = sin R + 0.5 MN U (16)
where, Fhc is the hill climbing force, m is the mass of the
vehicle, g is the acceleration due to gravity, θ is the angle of
Fig. 4. Circuit diagram of a motor
the inclination, ρ is the air density, Cd is the drag coefficient,
A is the frontal area of the vehicle, v is the velocity of the
Back emf Vb in the armature is * = 2( A, where 2( is the
vehicle, and η is the efficiency of the drivetrain.
back-emf constant and ω is the angular velocity and the
torque produced by the motor is BC = 2< A , where 2< is the D. Acceleration force: Acceleration Force (Fac) in an electric
Torque constant, vehicle refers to the force required to accelerate the vehicle
Sum the voltages around the loop in Fig. 4 and rearrange for from a standstill or to change its velocity. When an EV
i: accelerates, the electric motor needs to produce enough force
( (D ( EF G
to overcome various resistive forces and propel the vehicle
= = (11) forward. The Acceleration Force is calculated using the
7 7
following equation:
Now put the value of current I in equation of torque then the
torque equation become; -+ = V+ + - (17)
EH
BC = ( V-2IG ) (12) where, Fac is the acceleration force, m is the mass of the
7
vehicle, a is the acceleration of the vehicle, Frr is the rolling
The resulting torque is resistance force, and Fad is the aerodynamic drag force.
EJ
B= ( − 2( A) − KA − .A (13) Therefore, the total tractive force (Ft):
7
Total Tractive Force on electrical vehicle are shown in Fig. 5. < = + - + + + -+ (18)
A. Rolling Resistance Force: It is one of the forces that act to Table 1 shows the specifications of parameter of electrical
oppose the motion of a vehicle The Coefficient, is a function vehicle.
of the Tire material, structure, temps, pressure, tread
geometry, road roughness, material, presence and absence of TABLE I. VEHICLE SPECIFICATION PARAMETER
liquids on the road. Notations Parameters Values Units
=L (14) m Weight 180.00 kg
where, µrr is rolling resistance constant, m is mass of the L Length 0.900 M
W Width 0.500 M
vehicle and g is gravitational acceleration constant.
L Rolling Resistance 0.050 NA
B. Aerodynamic Drag Force: The force on an object that Air Density 1.250 Kg/m3
resists its motion through an air is called drag. Drag is a force Drag Coefficient 1.200 NA
that acts parallel to and in the same direction as the airflow. g Gravitational Force 9.800 m/sec2
Aerodynamic drag increases with the square of speed. A Frontal Area 0.450 m2
v Velocity 5.556 m/sec
- = MN (15) Frr Rolling Resistance Force 68.600 Newton
Fad Aerodynamic Drag Force 10.417 Newton
where, ρ is air density (kg/m3), A is frontal area (m2), Cd is Fhc Hill Climbing Force NA (Flat Surface)
drag coefficient, and v is velocity of the vehicle (m/s). Ft Tractive Force 79.017 Frr+Fad+Fac

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 IV. RESULT AND DISCUSSION Due to the considerable expenses and challenges associated
with prototyping and testing, automotive designers heavily
This model is built using MATLAB/Simulink blocks that
depend on simulation and modeling to make informed
represent the various components of the EV system. The
decisions regarding energy control strategies, component
model should accurately reflect the vehicle's physics and
sizing, and energy efficiency improvements.
behavior, considering factors like battery dynamics, motor
efficiency, and overall vehicle dynamics. During the
simulation, the model calculates and generates various output
signals representing the vehicle's performance and behavior.
These outputs may include vehicle speed, acceleration, power
consumption and motor torque. The simulation output helps
in understanding how the EV behaves under different
conditions and inputs. The debugging process is an essential
part of simulation analysis to ensure the accuracy and
reliability of the results.
The Fig. 6 shows the graphs of slip and force graph for
both wheels. In both front and rear wheel the sleep in constant
after initial spikes. But the force is changes in both wheels Fig. 7. Torque Curve
according to operating torque. Fig. 7 shows the torque graph
in this system torque is applied at 5 and 15 second which is
shown in the graph according to the applied torque the speed
variation is also shown in the Fig. 8.
The results obtained from the simulation are presented in this
section. In the performance of EV is tested when the effect of
wind speed opposing the vehicle propulsion is not considered
and the road terrain is considered as flat i.e. the vehicle is
considered running on a flat surface. In this case as depicted
in figures 8 the vehicle accelerates from 0 to 10 km/hr. speed
in 5 seconds and to 18 km/sec. at 15 seconds. The maximum
speed of EV is 28 km/hr at 50 seconds where break is applied
then the value of speed decays. The vehicle runs at a constant
speed of 22 km/hr till 100 seconds It can be observed from
figure 8 that the total distances travelled by the vehicle is 0.6 Fig. 8. Distance and speed curves
km. in 100 seconds.
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