Vehicle Propulsion Systems: Introduction to Modeling and Optimization

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ISBN: 9783540251958 | 3540251952
Cover: Hardcover
Copyright: 8/1/2005

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In this book the longitudinal behavior of road vehicles is analyzed. The main emphasis is on the analysis and minimization of the fuel and energy consumption. Most approaches to this problem enhance the complexity of the vehicle system by adding components such as electrical motors or storage devices. Such a complex system can only be designed by means of mathematical models. This text gives an introduction to the modeling and optimization problems typically encountered when designing new propulsion systems for passenger cars. It is intended for persons interested in the analysis and optimization of classical and novel vehicle propulsion systems. Its focus lies on the control-oriented mathematical description of the physical processes and on the model-based optimization of the system structure and of the supervisory control algorithms. This text has evolved from a lecture series at ETH Zurich. Prerequisites are general engineering topics and a first course in optimal control theory.

1 Introduction

(12)

1.1 Objectives

(3)

1.2 Upstream Processes

(5)

1.3 Energy Density of On-Board Energy Carriers

(2)

1.4 Pathways to Better Fuel Economy

(2)

2 Vehicle Energy and Fuel Consumption – Basic Concepts

(28)

2.1 Vehicle Energy Losses and Performance Analysis

(8)

2.1.1 Energy Losses

(5)

2.1.2 Performance and Drivability

(2)

2.1.3 Vehicle Operating Modes

(1)

2.2 Energy Demand in Driving Cycles

(10)

2.2.1 Test Cycles

(1)

2.2.2 Mechanical Energy Demand

(5)

2.2.3 Some Remarks on the Energy Consumption

(4)

2.3 Methods and Tools

(10)

2.3.1 Average Operating Point Approach

(1)

2.3.2 Quasistatic Approach

(4)

2.3.3 Dynamic Approach

(1)

2.3.4 Optimization Problems

(1)

2.3.5 Software Tools

(3)

3 IC-Engine-Based Propulsion Systems

(16)

3.1 IC Engine Models

(4)

3.1.1 Introduction

(1)

3.1.2 Normalized Engine Variables

(1)

3.1.3 Engine Efficiency Representation

(2)

3.2 Gear-Box Models

(7)

3.2.1 Introduction

(1)

3.2.2 Selection of Gear Ratios

(2)

3.2.3 Gear-Box Efficiency

(2)

3.2.4 Losses in Friction Clutches and Torque Converters

(3)

3.3 Fuel Consumption of IC Engine Power Trains

(5)

3.3.1 Introduction

(1)

3.3.2 Average Operating Point Method

(2)

3.3.3 Quasistatic Method

(3)

4 Models of Electric and Hybrid-Electric Propulsion Systems

(64)

4.1 Electric Propulsion Systems

(1)

4.2 Hybrid-Electric Propulsion Systems

(10)

4.2.1 System Configurations

(3)

4.2.2 Power Flow

(5)

4.2.3 Concepts Realized

(1)

4.2.4 Modeling of Hybrid Vehicles

(1)

4.3 Electric Motors

(21)

4.3.1 Quasistatic Modeling of Electric Motors

(15)

4.3.2 Dynamic Modeling of Electric Motors

(2)

4.4 Modeling of Generators

(1)

4.5 Batteries

(16)

4.5.1 Quasistatic Modeling of Batteries

(9)

4.5.2 Dynamic Modeling of Batteries

101

(4)

4.6 Supercapacitors

105

(5)

4.6.1 Quasistatic Modeling of Supercapacitors

106

(3)

4.6.2 Dynamic Modeling of Supercapacitors

109

(1)

4.7 Electric Power Links

110

(3)

4.7.1 Quasistatic Modeling of Electric Power Links

111

(1)

4.7.2 Dynamic Modeling of Electric Power Links

112

(1)

4.8 Torque Couplers

113

(3)

4.8.1 Quasistatic Modeling of Torque Couplers

114

(1)

4.8.2 Dynamic Modeling of Torque Couplers

115

(1)

4.9 Planetary Gear Sets

116

(5)

4.9.1 Quasistatic Modeling of Planetary Gear Sets

116

(3)

4.9.2 Dynamic Modeling of Planetary Gear Sets

119

(2)

5 Models of Hybrid-Inertial and Hybrid-Hydraulic Propulsion Systems

121

(26)

5.1 Short-Term Storage Systems

121

(3)

5.2 Flywheels

124

(6)

5.2.1 Quasistatic Modeling of Flywheel Accumulators

127

(3)

5.2.2 Dynamic Modeling of Flywheel Accumulators

130

(1)

5.3 Continuously Variable Transmissions

130

(5)

5.3.1 Quasistatic Modeling of CVTs

131

(3)

5.3.2 Dynamic Modeling of CVTs

134

(1)

5.4 Hydraulic Accumulators

135

(8)

5.4.1 Quasistatic Modeling of Hydraulic Accumulators

136

(6)

5.4.2 Dynamic Modeling of Hydraulic Accumulators

142

(1)

5.5 Hydraulic Pumps/Motors

143

(4)

5.5.1 Quasistatic Modeling of Hydraulic Pumps/Motors

144

(2)

5.5.2 Dynamic Modeling of Hydraulic Pumps/Motors

146

(1)

6 Models of Fuel-Cell Propulsion Systems

147

(42)

6.1 Fuel-Cell Electric Vehicles and Fuel-Cell Hybrid Vehicles

147

(2)

6.1.1 Concepts Realized

149

(1)

6.2 Fuel Cells

149

(31)

6.2.1 Quasistatic Modeling of Fuel Cells

161

(14)

6.2.2 Dynamic Modeling of Fuel Cells

175

(5)

6.3 Reformers

180

(9)

6.3.1 Quasistatic Modeling of Fuel Reformers

183

(4)

6.3.2 Dynamic Modeling of Fuel Reformers

187

(2)

7 Supervisory Control Algorithms

189

(16)

7.1 Introduction

189

(1)

7.2 Heuristic Control Strategies

190

(2)

7.3 Optimal Control Strategies

192

(4)

7.4 Sub-Optimal Control Strategies

196

(9)

7.4.1 Equivalence Factors

197

(2)

7.4.2 Equivalent Consumption Minimization Strategy

199

(2)

7.4.3 T-ECMS

201

(4)

8 Appendix I Case Studies

205

(52)

8.1 Case Study 1: Gear Ratio Optimization

205

(4)

8.1.1 Introduction

205

(1)

8.1.2 Software Structure

205

(2)

8.1.3 Results

207

(2)

8.2 Case Study 2: IC Engine and Flywheel Powertrain

209

(7)

8.2.1 Introduction

209

(2)

8.2.2 Modeling and Experimental Validation

211

(1)

8.2.3 Numerical Optimization

212

(2)

8.2.4 Results

214

(2)

8.3 Case Study 3: Supervisory Control Strategies for a Parallel HEV

216

(9)

8.3.1 Introduction

216

(1)

8.3.2 Modeling and Experimental Validation

216

(1)

8.3.3 Control Strategies

217

(2)

8.3.4 Results

219

(6)

8.4 Case Study 4: Optimal Rendez-Vous Maneuvers

225

(11)

8.4.1 Modeling and Problem Formulation

226

(2)

8.4.2 Optimal Control for the Case of a Specified Final Distance

228

(4)

8.4.3 Optimal Control for the Case of an Unspecified Final Distance

232

(4)

8.5 Case Study 5: Fuel Optimal Trajectories of a Racing FCEV

236

(10)

8.5.1 Modeling

237

(4)

8.5.2 Optimal Control

241

(2)

8.5.3 Results

243

(3)

8.6 Case Study 6: Nonpredictive Optimal Control of a Series Hybrid Bus

246

(11)

8.6.1 Modeling and Validation

246

(3)

8.6.2 Optimal Control

249

(4)

8.6.3 Results

253

(4)

9 Appendix II Optimal Control Theory

257

(22)

9.1 Parameter Optimization Problems

257

(9)

9.1.1 Problems Without Constraints

257

(2)

9.1.2 Numerical Solution

259

(2)

9.1.3 Minimization with Equality Constraints

261

(3)

9.1.4 Minimization with Inequality Constraints

264

(2)

9.2 Optimal Control

266

(7)

9.2.1 Introduction

266

(1)

9.2.2 Optimal Control for the Basic Problem

266

(4)

9.2.3 First Integral of the Hamiltonian

270

(2)

9.2.4 Optimal Control with Specified Final State

272

(1)

9.2.5 Optimal Control with Unspecified Final Time

273

(1)

9.2.6 Optimal Control with Restrictions of the Control Variable

273

(6)

References

279

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Vehicle Propulsion Systems: Introduction to Modeling and Optimization

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