Root Locus Bode Plot

Ref.
Voltage r
+ oll e Real Axis Frequency
- o ntr
C
l l er
+ tr o
Ref. -

2005 The MathWorks, Inc.

n
Co
Speed

Modeling a Hybrid Electric Vehicle and Controller to

Optimize System Performance

Steve Miller
Technical Marketing, Physical Modeling Tools
The MathWorks GmbH, Munich, Germany
Steve.Miller@mathworks.de
Key Results

1) Integrating the requirements in model

and simulation is critical for effective
development

2) Effective use of control design tools

Root Locus Bode Plot
and optimization algorithms improves
overall design
Real Axis Frequency
3) Simulating plant and controller in one
tool allows engineers to understand
and optimize performance of the entire
system

2
Agenda

Introduction to HEV Model 5 min

Improving Development Process 5 min
Linking Design and Specification
Comparing Performance and Specification
Optimizing HEV System 15 min
Linearized Model
Nonlinear Model
Questions and Answers 5 min

3
 System Optimization Challenge

HEV with two PI controllers

Speed Controller, Voltage Controller
C
C -D ter
and D ver le s
mm age n c Bu ge
o
C olt Co t y C y lta
V - l l er Du Vo
+ o
ontr e
and C an
d
hicl
mm ed
m Ve eed
o
C pe r C om rque Sp
S oll
e To
+- nt r
Co

Must meet performance requirements

Conflicting goals
Improving speed response degrades
voltage bus response

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

Introduction to HEV Model 5 min

Improving Development Process 5 min
Linking Design and Specification
Comparing Performance and Specification
Optimizing HEV System 15 min
Linearized Model
Nonlinear Model
Questions and Answers 5 min

9
 Linking Specification and Design

Situation:

HEV Requirements
1. Drivetrain System
Layout

Part Numbers

Problem: Matching design to

specification is difficult.
Solution: Use Simulink
Verification and Validation to directly
link the design to the specification.
10
 Comparing Specification and Design

Situation:

HEV Requirements
1. Drivetrain System

Wheel Speed
5% Setting Time
in 0.5 Sec

Problem: Measuring design

performance relative to specification
is difficult.
Solution: Use Simulink Verification
and Validation to automatically compare
performance to specification.
11
Improved Development Process

Advantages of improved process

1) Enables quick and easy associaton of specification and model

2) Automatically checks design against specification

3) Supports Model-Based Design, helping you discover and solve

problems earlier in the design process

12
Agenda

Introduction to HEV Model 5 min

Improving Development Process 5 min
Linking Design and Specification
Comparing Performance and Specification
Optimizing HEV System 15 min
Linearized Model
Nonlinear Model
Questions and Answers 5 min

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

Real Axis Frequency

14
 System Optimization On Linear Plant

Model:
Ref.
Voltage l er
+ ol
- o ntr
C
r
+ oll e
Ref. - o ntr
C
Speed

Problem: Design and tune the

two controllers in this system to
meet system requirements.
Solution: Use Simulink Control
Design, Control System Toolbox to
design, tune, and test the controller
15
System Optimization On Linear Plant

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

3) Linearize model about this point Ax+Bu=0

4) Perform control design
Root Locus Bode Plot

5) Test controller in
nonlinear system
Real Axis Frequency

16
System Optimization On Linear Plant

Advantages of Simulink Control Design

1) Enable easy application of linear control theory

Operating points from specification or simulation
Graphical design with interactive plots

2) Rapid evaluation of designs with interactive analysis plots

3) Optimize performance based on time, frequency, or root

locus constraints

17
 System Optimization On Nonlinear Plant

Model:
Ref.
Voltage l er
l
+
- ntr o
Co
r
+ oll e
Ref. - o ntr
C
Speed

Problem: Design and tune the

(Kps+Ki) Voltage Speed Motor
controller in this system to
s
meet system requirements. Voltage
Kp Ki Kp Ki R

Solution: Use Simulink (Kps+Ki) 0.007

0.001 0.001
0.003
0.005
0.006 0.033 1.3
0.023
0.014 3.0 95.7
2.2
1.9
1.5 62.8
75.1
83.9
120 0.05
0.08
0.07
0.06
Response Optimization to design, s
tune, and test the controller Speed
18
Control Design On Nonlinear Plant

Steps to Optimizing Response

1) Identify parameters to be tuned (Kps+Ki)

s
and their ranges

2) Specify desired response

3) Perform response optimization

19
Control Design On Nonlinear Plant

Advantages of Simulink Response Optimization

1) Simulating plant and controller in one tool allows engineers to
understand and optimize performance of the entire system

2) Automatic tuning of parameters saves time

3) Graphical interface makes it easy to map specification to tests

20
Summary

1) Integrating the requirements in model

and simulation is critical for effective
development

2) Effective use of control design tools

Root Locus Bode Plot
and optimization algorithms improves
overall design
Real Axis Frequency
3) Simulating plant and controller in one
tool allows engineers to understand
and optimize performance of the entire
system

21
Agenda

Introduction to HEV Model 5 min

Improving Development Process 5 min
Linking Design and Specification
Comparing Performance and Specification
Optimizing HEV System 15 min
Linearized Model
Nonlinear Model
Questions and Answers 5 min

22
MathWorks Physical Modeling Tools Booth
(HEV Example, Other Tools)

Series-Parallel architecture using

Simscape, SimDriveline, SimPowerSystems

23
Physical Modeling Master Class
(Wednesday, 10:30 12:00)

Model and simulate

multidomain physical systems
all within the Simulink
environment

Optimize system performance s1 s2

by developing the plant and
controller in one environment s3

Use Model-Based Design on

your entire system to improve
your development process

Simulink
Plant Model

Production
C-Code
24
 Thank You For
Your Attention!

2005 The MathWorks, Inc.

Steve Miller
Technical Marketing, Physical Modeling Tools
The MathWorks GmbH, Munich, Germany
Steve.Miller@mathworks.de