FINAL PROJECT

Control System design for a configurable Hybrid

Vehicle
BY
Brijendra Singh
Rakesh Mohanty
Souman Haldar
INSTRUCTURE: Dr. BO CHEN
TA : Ming Chen
MEEM/EE 5750 Distributed
Embedded Control System
The main Objective of this project are
To design and validate sub-models for the
control module and a stepper motor driving
model in the actuator module
To design and develop the entire control system
for configurable hybrid vehicle
OBJECTIVE
Introduction
The control system of the configurable hybrid vehicle consists of
Sensor Module, Control Module and Actuator Module
HEV stands for Hybrid Electric Vehicle. A hybrid vehicle has more than one power source. A small
internal combustion engine along with a motor to provide energy to the vehicle .
Model Development
The final model consist of 7 sub-models
System Input Output Parameter
INPUT SIGNAL OUTPUT SIGNAL
Motor On Switch: Electric Solo Mode
E-motor Torque Request
Engine On Switch: Engine Solo Mode E-motor On
Forward Switch: move forward switch in Electric
Solo Mode
Forward
Reverse Switch: move backward switch in
Electric Solo Mode
Reverse
Crank Switch: vehicle key switch Engine Crank: a control signal to start engine
Accelerator Pedal Position (APP): speed/torque
request command
Engine Kill: a control signal to stop engine
Engine Average RPM: engine speed sensor input Driving signals for four stepper motor coils
Vehicle Speed: vehicle speed sensor input

Throttle Position Sensor (TPS): throttle position
sensor input


Model Development
Driving mode model
Blend Factor
Engine state logic
Engine Torque/Throttle
Engine Start/Stop Model
E-Motor Start/Stop model
Stepper Motor(Actuator Module
Calibration
Parameter Range
Gain Offset
Vehicle Speed 0 -19 MPH 0.00007432 -1.17328
APP 0 - 1
0.09755 0
TPS 0 - 1
0.09813 -0.391254
Engine RPM 10 - 3000 RPM
0.0116968 -262.69
BPP 0 - 1
0.0009755 0
Final System Calibration on MotoHawk and MotoTune
Input Frequency Range : 300 Hz to 3000 Hz
Controller Output
The output of the controller (entire model ) is to control of the stepper motor
(actuator) as per the defined logic.
The operation of the stepper motor is indicated by energizing the coils in
proper sequence.
The direction of the stepper motor is determined by the difference of Engine
Throttle Request and Throttle position sensor
In order to see the switching of the lights a time delay 2 secs was introduced between
switching of coils.
Time Delay between Energizing Coils
Time Delay Introduced
Stepper Motor Operation
VIDEO LINK
Efficient Blend Factor
Stratergy
Developed a model to improve the torque blending by introducing IC Engine efficiency map
Higher torque request given to IC Engine only when it operates around maximum efficiency
region.
Matlab Code
3-D Plot for Engine
Efficiency Map
Improvement
Prevention Of Rapid Switching(Removing
Hytreysis)
Battery Protection
Improvement in torque blending
Engine State
Engine Kill
Stepper Motor
Conclusion
We can Further improve the system by using a
feedback system.
We improve