Beruflich Dokumente
Kultur Dokumente
Nikolce Murgovski
Department of Signals and Systems,
Chalmers University of Technology
Gothenburg, Sweden
May 2014
Outline
Powertrain sizing and energy management of hybrid vehicles.
Case study 1: Sizing of a fuel cell hybrid vehicle.
CONES: Matlab code for convex optimization in electromobility studies.
Case study 2: Battery longevity considerations.
Case study 3: Plug-in hybrid electric vehicle (PHEV) in a series configuration.
HEV in a parallel configuration.
Planetary gear HEV (used in Toyota Prius).
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8
10
Distance [km]
12
14
16
3/16
75
Torque bounds
E fic ency [%]
5000
0
1000
2000
Speed [rpm]
0
0
10020
200
3000
40
100
3 00
94 95
92
75
75 92
94
95
95
00
10
6
00 00
92
0
40 0
30
200
0
43000
00
10
94 95
92
75
75 92
94 95
92
94
92
Torque [Nm]
94
95
75
75
Original model
(speed [rpm])
Approximation
(speed [rpm])
100
3000
10
00
60
0
200
92
75
5000
200
3000
000
Approximated EM model.
50
Fuel power [kW]
Efficiency [%]
80
0
30
20
10
0
60
0
20
10
20
30
Electrical power [kW]
50
Original model
Approximation
0
10
20
30
Electr cal power [kW]
50
Objective:
find optimal sizes of buffer and FCS,
find optimal power split control,
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Parameter
Hydrogen price
FCS price
Supercapacitor price
Yearly travel distance
Bus service period
Yearly interest rate
Value
69.3 kW
0.7 kWh
0.28 e/km
<10 s
Value
4.44 e/kg
34.78 e/kWh
10 000 e/kWh
70 000 km
2 years
5%
Optimal results.
0 34
0 35
0.32
0 33
0.36
Cost [EUR/km]
Optimum
0.3
Cost [EUR/km]
0.3
30
0.31
100
0.3
40
0.3
2
0.3
50
0.3
60
0.3
50
FCS power [kW]
0.3
0 32
70
0.2
0 34
80
0.3
0 36
9
0.3 .38
0
90
0 38
0.3
5
0.3
4
0.3
3
0.3
100
2
1.5
Buffer energy [kWh]
1
1.5
2
Buffer energy [kWh]
Optimal cost for different sizes of fuel cell system and electric buffer. The shaded region illustrates infeasible component sizes.
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100
0
50
100
150
FCS power
Buffer power
200
0
10
50
Optimal operating points
Distribution [%]
40
30
20
10
15
20
25
30
Time [min]
35
40
45
50
20
40
FCS power [kW]
15
20
25
30
Time [min]
35
40
45
50
96
Optimal
operating
points
Efficiency [%]
20
0
2000
93
90
8805
70
10
93
90700
50
40
60
70
20
80
90
85 0
8
40
80
85
60
93
90
100
80
9
903
8
805
100
60
930
890
Power [kW]
50
1000
0
Pack power at terminals [kW]
1000
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Coded in Matlab.
Uses CVX, a Matlab-based modeling system for convex optimization.
Examples are continuously added for powertrain design and energy management of
electrified vehicles.
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(C-rate) [1].
Original model
Affine approximation
Operational region
2.5
20
8000
6000
4000
2000
20
80
100
40
60
x 10
0.2
0.4
0.6
0.8
60
10000
40
Original model
Piecewise affine approximation
0
10
20
30
40
50
60
70
[1] Wang J, Liu P, Hicks-Garner J, Sherman E, Soukiazian S, Verbrugge M, Tataria H, Musser J, Finamore P. Cycle-life model for
graphite-LiFePO4 cells. J. Power Sources 2011;196:3942-8.
N. Murgovski @ Chalmers 2014
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Parameter
Hydrogen price
FCS price
Battery price
Yearly travel distance
Bus service period
Yearly interest rate
Value
44.1 kW
4.4 kWh
0.24 e/km
<10 s
Value
4.44 e/kg
34.78 e/kWh
900 e/kWh
70 000 km
5 years
5%
50
2
90
94
50
40
30
94
60
60
70
Efficiency [%]
Power lim ts
Operating points, without SOH model
Operating points, with SOH model
70
92
96
80
92
10
20
30
40
50
Time [min]
92
96
90
90
0.1
92 94 96
0.05
98
94
10
30
99
98
20
SOC limits
Wothout SOH model
Woth SOH model
40
99
Battery
Value
47.2 kW
11 kWh
0.29 e/km
10 s
94
Parameter
FCS size
Buffer size (usable)
Total cost
Computational time
0.05
0.1
Cost [EUR/km]
0.35
0.3
Total cost
Cost for hydrogen
Cost for battery
Cost for FCS
0.25
0.2
0.15
0.1
0.05
0
10
Electric grid
Auxiliary load
Ultracapacitor Battery
EM
Buffer
50
100
150
92 90
85
85
90
92
0 85 85
92
ICE
85
GEN
EGU
90
92
Efficiency [%]
500
1000
1500
2000
Speed [rpm]
Fuel tank
90
85
Torque limits
1
2
92
92
Torque [kNm]
Efficiency [%]
10
1
9090
20
85
2
30
60
0
20
0
60
0
20
0
10
12
16
Distance [km]
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supercapacitor size.
2 states: battery and supercapacitor SOC.
Magnitude of charging power is an
optimization variable.
Engine is turned on when demanded
Parameter
Diesel price
Battery price
Supercapacitor price
Yearly travel distance
Bus service period
Yearly interest rate
Maximum charging power
Value
1.6 e/l
500 e/kWh
10 000 e/kWh
80 000 km
5 years
5%
200 kW
7 chargers
0.8
2.4
0.32
0.16
200
1 charger
0.4
15.6
0.16
0
121
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100
80
80
60
60
40
20
0
10
100
Power limits
7 chargers
1 charger
10
20
30
40
50
80
0.5
0.5
80
60
60
40
40
10 s charging intervals
10 min charging interval
SOC limits
20
0
10
0
100
10
20
Time [min]
30
20
40
50
Optimal buffer operation for the two charging scenarios. The shaded region in the right plots depicts efficiency greater than 90 %.
Further details in
[1] N. Murgovski, L. Johannesson, A. Grauers, J. Sjoberg. Dimensioning and control of a thermally constrained double buffer plug-in
HEV powertrain. 51st IEEE Conference on Decision and Control, Maui, Hawaii, 2012.
[2] B. Egardt, N. Murgovski, M. Pourabdollah, L. Johannesson. Electromobility studies based on convex optimization: design and control
issues regarding vehicle electrification. IEEE Control Systems Magazine, vol. 34, no. 2, pp. 32-49, 2014.
N. Murgovski @ Chalmers 2014
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Further details in
[1] M. Pourabdollah, N. Murgovski, A. Grauers, B. Egardt. Optimal sizing of a parallel PHEV powertrain. IEEE Transactions on
Vehicular Technology, vol. 62, no. 6, pp. 2469-2480, 2013.
[2] N. Murgovski, L. Johannesson, B. Egardt. Optimal battery dimensioning and control of a CVT PHEV powertrain. IEEE Transactions
on Vehicular Technology, 2014. Accepted for publication.
N. Murgovski @ Chalmers 2014
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Further details in
[1] N. Murgovski, X. Hu, B. Egardt. Computationally efficient energy management of a planetary gear hybrid electric vehicle. IFAC
World Congress, Cape Town, South Africa, 2014.
N. Murgovski @ Chalmers 2014
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