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Page 0618

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

EVS24
Stavanger, Norway, May 13 - 16, 2009

Plug-in Hybrid Electric Vehicle Energy Management System


using Particle Swarm Optimization
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Abstract

3<.05@)90+3,*;90*",/0*3,:":(9,;/,5,>.,5,9(;0656-(<;646)03,:;/(;*(59<556;653@65;/,
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Keywords: Plug-in Hybrid Electric Vehicle, Optimization, Particle Swarm Optimization.

1 Introduction 69:*/, -;,9 /04 4(5@ 4(5<-(*;<9,9: 4(+, *(9:


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Page 0619

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

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Page 0620

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

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Page 0621

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

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Page 0622

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

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" 28)62%8-32%0%88)6==&6-(%2(9)0)000)'86-'"),-'0) =1437-91 


Page 0623

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

( 
%- .$! %(!,.%& 1!%#$. 1$%$ !($(!- .$! .$! *!,"),'(! )(-.,%(.- (  ).$!, )(-.,%(.-
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(.!,(.%)(& ..!,22,% ( /!&!&&&!.,%!$%&!2'*)-%/'



Page 0624

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

4 Simulation Results 3'%0/&3 &52#4+0/  4*'2 %*#2#%4'2+34+%3 0( 


&2+6'%9%-'#2')+6'/+/4*'4#$-'
$'-07
*+3 %0/342#+/'& 014+.+:#4+0/ 120$-'. +3 30-6'&
53+/) 4*' 120103'&  #-)02+4*. 02  4*' #$-'
 %*#2#%4'2+34+%3
3+.1-+(+'&.0&'-#3&+3%533'&+/3'%4+0/ +353'&40
)'4 4*' 014+.5. 01'2#4+/) 10+/43 0( '/)+/' (02  #8+.5. 6'2#)' 4#/&#2&
'/4+2' &2+6' %9%-'  *' 2'35-43 0( 4*+3  7*+%* '6+#4+0/
#2' 014+.5. 01'2#4+/) 10+/43 0( '/)+/' #2' 4*'/ 1''&.+-'*      
)+6'/ 40 4*' .02' %0.1-'8  .0&'- (02 $'44'2
#/#-93+3 #/& 345&9 *+3 $#3+% +.1-'.'/4#4+0/%#/ %%'-'2#4+0/.3         
+33*07/+/+) *'3'3+.5-#4+0/2'35-43#2'4*'/
%0.1#2'&7+4*%0/420-342#4')9 +)52'  $'-07 3*073 4*' 2$#/ 9/#.0.'4'2
2+6' %*'&5-'   &2+6' %9%-' 53'& (02
3+.5-#4+0/

60
Vehicle_lin_spd_dmd
50
Vehicle Speed [miles/h]

40

30

+)52' .1-'.'/4#4+0/0(/'2)9#/#)'.'/4 20
934'.
10
02 3+.5-#4+0/ 4*' .0&'- +3 $5+-4 +/  7+4*
0
%0/(+)52#4+0/3#3.'/4+0/'&+/4#$-' $'-07 0 200 400 600 800 1000 1200 1400
Time [s]

#$-' 0&'-%0.10/'/43&'4#+-3 +)52'  &2+6'%9%-'

0.10/'/4 0&'-
60
'/'2#402
,"0402 veh_lin_spd_out (PSAT Strategy)
Vehicle Speed Out [mile/h]

50 veh_lin_spd_out (PSO Strategy)

/'2)9402#)' ,"+0/#44'29 40

0402 ,"0402 30

20
'#2$08 -#/'4#29'#2
10
/)+/' ,"2+53/)+/'
0
0 200 400 600 800 1000 1200 1400
Time [s] 
*'3#.'.0&'-%0.10/'/43#2'53'&(02$04*
#/&  %0/420- 342#4')+'3 40 *#6' -')+4+.#4' +)52' !'*+%-'05415431''&(02#/&
%0.1#2+30/3 0( 4*'3' 342#4')+'3  04* 4*' %0/420- 342#4')+'3
342#4')+'3 #11-+'& (02 4*'  &2+6' %9%-'  *'
024*+3)+6'/&2+6'%9%-'4*'6'*+%-'(0--07'&4*'
 &2+6' %9%-' +3 0(   .+-'3 #/& 

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! /4'2/#4+0/#-#44'299$2+&#/&5'-'---'%42+%!'*+%-'9.103+5.
Page 0625

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

1%04)1%,%-32#.,/+%3%+8)'41% 2(.623(%.43/43 !+2. (!2 2.,% -%'!3)5% 5!+4%2 6()#( .##41 6()+%
5%()#+% 2/%%$ &.1 ".3( 3(% 231!3%')%2 6()#( &.++.62 %-')-% )2 .&&  (%- %-')-% )2 .&& 3(% '%-%1!3.1
$1)5%#8#+%%7!#3+8 1.3!3%2 $4% 3. /+!-%3!18 '%!1 #.4/+)-' 2 ! 1%24+3
3(%%-')-%1.3!3%2!3,)-.12/%%$2.&!".43 1!$2%#
41)-' 3()2 $1)5% #8#+% 3(% %-')-% )2 ./%1!3%$ !3 )-3(%1%5%12%$)1%#3).-
./3),4, ./%1!3)-' /.)-32 ."3!)-%$ &1.,  &.1
3(%#.-31.+231!3%'8
100
ess_soc (PSAT Strategy)
95 ess_soc (PSO Strategy)

120 eng_trq_out (PSAT Strategy)


eng_trq_out (PSO Strategy) 90

SOC [% ]
100
Engine Torque [Nm]

80 85

60
80
40

20 75
0 200 400 600 800 1000 1200 1400
0 Time [s] 
0 200 400 600 800 1000 1200 1400
Time [s]  )'41%.&!33%18&.1!-$31!3%')%2

)'41% -')-%3.104%&.1!-$231!3%')%2 )'41%  2(.62 3(%  .& 3(% "!33%18 &.1 ".3(
231!3%')%2  .3( 3(% 231!3%')%2 (!5% )-)3)!+  !2
)'41% 2(.623(!33(%%-')-%3.104%)2#.-2)23%-3+8 (%%-$)-')2!+2.!+,.232!,%&.1".3(
-%!1 3(% ,!7),4, %-')-% 3.104% 6()#( )2 ,.1% 231!3%')%2 6)3( ! ,)-.1 $)&&%1%-#% .&    (%
%&&)#)%-3./%1!3)-'1%').-&.13(%%-')-%  42!'% &.1  231!3%'8 )2 ,.1% #.-2)23%-3+8
1%$4#%2  (%1%!2  &.1  231!3%'8 $%/+%3%2
300 5%181!/)$+8"%36%%-!-$ 2%#.-$2"%#!42%
250
eng_spd_out (PSAT Strategy) .& 3(% 2(!1/ $%,!-$ .& 2/%%$ )- 3(% $1)5% #8#+%
eng_spd_out (PSO Strategy)
"%36%%-3(!3/%1).$433()2)2!//1.7),!3%+8
E ngine S peed [rad/s ]

200
,!)-3!)-%$"%36%%-
!-$ 1!$2%#$4%3.3(%
150 %-')-%/1.5)$)-'3(%/.6%1!-$"81%#.5%1)-',.1%
100 1%'%-%1!3)5%"1!*)-'
50
)'41%  2(.62 3(!3 3(% ,.3.1 3.104% )2 ,.1%
0
-%'!3)5% "%36%%-
 !-$  2%#.-$2 .& $1)5%
-50
0 200 400 600 800 1000 1200 1400 #8#+%.13(%2!,%14-3(%"!33%18#411%-3)2!+2.
Time [s] -%'!3)5%
 )- &)'41%   3 )-$)#!3%2 3(!3 ,.1%
1%'%-%1!3)5%%-%1'8)223.1%$)-3(%"!33%18&.1
)'41%-')-%2/%%$&.1!-$231!3%')%2 231!3%'8 6(%- #.,/!1%$ 3.  231!3%'8  -
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".3(!-$231!3%')%23#!-"%2%%-3(!3 %!-6()+% ,.3.1 3.104% )2 !+2. /.2)3)5% &.1 
3(% %-')-% )2 ./%1!3)-' !3 +.6%1 2/%%$2 &.1  231!3%'8 #.,/!1%$ 3. 3(%  231!3%'8 &.1 3(!3
231!3%'8 #.,/!1%$ 3.  231!3%'8  %-#% 3(% $41!3).-  %-#% #.,/!1!3)5%+8 ,.3.1 /1.5)$%2
&4%+ #.-24,/3).- 6.4+$ !+2. "% 1%$4#%$ ()'(%1/.6%1!3()'(%15%()#+%2/%%$23.2!3)2&83(%
2)'-)&)#!-3+8&.13(%$1)5%#8#+%(%%-')-%2/%%$


-3%1-!3).-!+!33%188"1)$!-$4%+%+++%#31)#%()#+%8,/.2)4,
Page 0626

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

326.7.9* 32:*5 :-.(- 9*-.(/* )*0&1)6 +25 ! 675&7*,; :.// 86* 21/;  , 2+ +8*/ :-*5*&6
675&7*,; !" 675&7*,; :.// 86*   , 2+ +8*/ :-.(- .6
6.,1.+.(&17

300
mc_trq_out (PSAT Strategy) "&'/* !.08/&7.213267352(*66*))&7&(203&5.621+25
mc_trq_out (PSO Strategy) !"&1)!675&7*,;
200
M otor Torque [Nm ]

 !
!"
100 #1.7
!75&7*,;
!75&7*,;
0
8*/
    0./*,&//21
-100 2168037.21
0 200 400 600 800 1000 1200 1400
/*(75.(&/
Time [s] 2168037.21     %-0./*

.,85*272572548*+25!"&1)!675&7*,.*6 &662+8*/
7275&9*/
    ,
0./*6
250
ess_curr_out (PSAT Strategy)
200 2:*575&.1
ess_curr_out (PSO Strategy)
Battery Current [am ps ]

.).5*(7.21&/
150 

  
&7-
100
++.(.*1(;
50

0
2:*575&.1
/26*)223 
  
-50
&.1
-100
0 200 400 600 800 1000 1200 1400
*5(*17&,*
Time [s] 
1*5,;

    
*(29*5*)&7
.,85*&77*5;855*17+25!"&1)!675&7*,.*6
&77*5;

"-*6* 6.08/&7.21 5*68/76 &5* 3267 352(*66*) '; '62/87*


!" 62+7:&5* &1) &5* 6-2:1 .1 "&'/*   "-* &9*5&,*
  
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0./*,&//21 +25 ! 675&7*,; &6 (203&5*) 72   9*-.(/*63**)6
0./*,&//21 +25 !" 675&7*,;  *(&86* 7-* !6

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$! 17*51&7.21&/&77*5;;'5.)&1)8*/*///*(75.($*-.(/*!;0326.80
Page 0627

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

A<
 /@1<:=/?32D7A6A63  4<?"%& 2347;32 4<? @6<?A3? 27@A/;13@  &63 <=A7:B:
@A?/A35E  &67@ 4/1A 1/; 03 C3?74732 4?<: A63 :<A<? <=3?/A7;5 =<7;A@ 4<? A67@ '% 2?7C3 1E193 D/@
A<?>B3 7; 475B?3  /;2 0/AA3?E 1B??3;A 7; 475B?3
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D63?3 9/?53 ;35/A7C3 A<?>B3@ /;2 ;35/A7C3 1B??3;A@ <=A7:B: =<7;A /A 3/16 A7:3 7;A3?C/9  %7;13 A67@
/?3 ?31<C3?32 /;2 @A<?32 7; 0/AA3?E  ; A63 @/:3 <4497;3 @A?/A35E 1/;;<A 03 7:=93:3;A32 <; A63 ?3/9
A/093A631<:=/?7@<;<4/0@<9BA3/C3?/5327443?3;13 C367193 / ?3/9 A7:3 1<;A?<993? 7@ 1B??3;A9E 037;5
03AD33;C367193@<BA=BA@=332/;223:/;2322?7C3 23C39<=324<?A631<??3@=<;27;5"%!@A?/A35E 
1E193 @=332 7@ 1/91B9/A32  A /9@< @6<D@ A6/A A63
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@A?/A35E1<:=/?32A<"%&@A?/A35E &67@?3@3/?16D<?8D/@:/23=<@@70930E/?3@3/?16
5?/;A 4?<: ;27/;/ !44713 <4 ;3?5E /;2 343;@3
5 Conclusions 3C39<=:3;A@ ! B;23? 5?/;A ;B:03?  
 
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<=A7:7F/A7<; :3A6<2 D/@ B@32 A< 7:=?<C3 A63 4B39
References
31<;<:E<4A63"(C367193@7:=974732:<239
<4A63=<D3?@=97A6E0?723931A?71C367193=<D3?A?/7; -
. 6AA=DDD6E0?72C367193<?56E0?72C367193
D/@ 23C39<=32  &67@ :<239 D/@ B@32 /9<;5 D7A6 67@A<?E6A:9/113@@32<;   
"%! A< <0A/7; A63 <=A7:B: <=3?/A7;5 =<7;A@ <4 - . 6AA=09<5D7?321<:1/?@  =?7B@A<?71
3;57;3D6793@/A7@4E7;5C/?7<B@1<:=<;3;A=6E@71/9 56A:9/113@@32<;   
1<;@A?/7;A@ /@ D399 /@ C367193 =3?4<?:/;13 - .  /?0<D@87  $<B@@3/B % "/53?7A "
1<;@A?/7;A@&63?3@B9A7;5<=A7:B:<=3?/A7;5=<7;A@ %6/?3? Plug-in vehicle control strategy: From
Global Optimization to Real-time Application
<43;57;3D3?3A63;57C3;/@7;=BA@A<"%&:<239
(% 31  ;/637:/974<?;7/
&63?3@B9A@4?<:"%&:<239D3?31<:=/?32D7A6
- . $<B@@3/B % "/53?7A  /<, Plug-in Hybrid
"%&234/B9A@A?/A35E4<?@7:79/?=<D3?@=97A=9B5 Electric Vehicle Control Strategy Parameter
7;6E0?723931A?71C367193 Optimization (%  31   ;/637:
/974<?;7/
&63 ?3@B9A@ @6<D @75;7471/;A 7:=?<C3:3;A 7; A63 -. # /< % "/53?7A $  /?9@<;  $<B@@3/B
4B39 31<;<:E :793@5/99<; 4<? A63 C367193 D7A6 PHEV Hymotion Prius Model Validation and
"%! @A?/A35E D6793 1<:=/?7;5 D7A6 723;A71/9 Control Improvements (%  31  
C367193 1<;475B?/A7<; 4<? "%& @A?/A35E 4<? /9:<@A ;/637:/974<?;7/
@/:3 3931A?71/9 1<;@B:=A7<; &63 =?<=<@32 -. *7/<9/; )  /<  )3; + 7/; Particle
/95<?7A6: 6/@ /9@< @6<D; 7;1?3/@3 7; 3;A7?3 Swarm Optimization for Plug-in Hybrid Electric
=<D3?A?/7; 0727?31A7<;/9 =/A6 3447173;1E <4 C367193 Vehicle Control Strategy Parameter, 
(367193 "<D3? /;2 "?<=B9@7<;
B?7;5 A63 @7:B9/A7<; 7A D/@ /9@< 4<B;2 A6/A A63
<;43?3;13("" %3=A   /?07;
=3?4<?:/;13 <4 A63 C367193 7@ 7:=?<C32 D63;
67;/
1<:=/?32D7A67A@"%&@A?/A35E1<B;A3?=/?A -. # <;5 + 7 , "3;5 !=A7:/9 "<D3?
/;/53:3;A <4 "9B57; ( D7A6 ;A399753;A
&63 <=3?/A7;5 =<7;A@ <0A/7;32 63?3 /?3 <;9E 4<?
&?/;@=<?A/A7<; %E@A3: 2C/;132 ;A399753;A
093;232 :<23 @A?/A35E D63?3 0<A6 3;57;3 /;2<? :316/A?<;71@  %  7;A3?;/A7<;/9
0/AA3?E1/;03B@32A<2?7C3A63C3671933C3;74A63 1<;43?3;13 %3=A 
0/AA3?E 6/@ @B447173;A =<A3;A7/9 A< 2?7C3 A63 C367193 -. + /<  6@/;7 Design and Control
D6716 7@ ;<A 23@7?/093 4<? @6<?A 27@A/;13@ Methodology of Plug-in Hybrid Electric Vehicles,
11<?27;59E / 27443?3;A 1<;A?<9 @A?/A35E 1/; 03

(% ;A3?;/A7<;/9/AA3?EE0?72/;2B39399931A?71(367193%E:=<@7B:

Page 0628

World Electric Vehicle Journal Vol. 3 - ISSN 2032-6653 - © 2009 AVERE

&145/81 ;B1=-:0 =;<@8>5;: ;:21=1:/1 Authors


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of Battery Sizing on Stochastic Optimal Power #B-=9<?595E-?5;:
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