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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
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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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! =2%1-' 63+6%11-2+ %68-'0) ;%61
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348-1->%8-32 463&0)1 -2 36()6 83 *-2( -87 +03&%0
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():)034)(&=%1)7)22)(=%2(977)00&)6,%68
#
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73'-)8=  2   % +6394 3* 4%68-'0)7 -7 6%2(310=
-2-8-%0->)(;-8,-873;2437-8-32%2(:)03'-8=-28,)
1908-(-1)27-32%0 74%')  !,) *-82)77 *92'8-32 -7
):%09%8)(*36)%',4%68-'0)%2(%294(%8)-71%()83
8,) &)78 +03&%0 73098-32  !,)2 8,)7) 4%68-'0)7 %6)
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-8)6%8-3297-2+8,))59%8-327()*-2)(&= ;,-',
%6)%7*3003;7
; 2 < 5  ; < 2
    7 ; < 3 ; <8 2

    7  ; < 3 ; <8



; 2 < 5 ; < 2 ; 2 < 
!,))59%8-32
-78,):)03'-8=3*8,)4%68-'0)*36
2)<8 -8)6%8-32 %2( )59%8-32  $ -7 8,) 4%68-'0)
437-8-32*362)<8-8)6%8-32)6)
 -78,)'3+2-8-32
0)%62-2+ 6%8)
 -7 73'-%0 0)%62-2+ 6%8) 3* 4%68-'0)

" 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$%$ !($(!- .$!
*!,"),'(!)"%(0,%)/-**&%.%)(- 
(   ,! ,( )' (/'!,- !.1!!(  (  
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.$!  )" && *,.%&!-  $! *,.%&!- 1%&& !
/* .!  /-%(# .$!-! !+/.%)(- %.!,.%0!&2 /(.%& .$!
)*.%'&-)&/.%)(%-).%(! 

.$! *!,"),'(! )(-.,%(.- (  ).$!, )(-.,%(.-


/-%(#') %"%! &#),%.$'-/##!-.! 2%)$/%( 
!,$,. ".!, )/(.%(# "), .$! &)--!- %( .$!
*)1!,.,%(  $!  *,'!.!,-
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$!  &#),%.$' "&)1$,. "), )(-.,%(! 
)*.%'%3.%)(%---$)1(%(%#

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/()(-.,%(!  )*.%'%3.%)( *,)&!'- )1!0!,
%""!,!(. 0!,-%)(- )"  .!$(%+/! $0! !!(
!0!&)*!  %( .$! *-. 1$%$ ( ! /-!  "),
)(-.,%(!  )*.%'%3.%)( *,)&!'-  (  
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%( 0!&)%.2 )'*/..%)( "),'/& ./,/&!(!
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-)&0! -(/()(-.,%(! *,)&!'
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$!2-/##!-.! .1)$(#!-%(.$!&#),%.$'
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1$!( /* .%(# .$! (  0,%&!- "),
!$ %.!,.%)( )(&2 .$! "!-%&! *)%(.- ,! --%#(! 
- (  ).$!&#),%.$'&12-
-.,.- 1%.$ && .$! *,.%&!- %( .$! "!-%&! -)&/.%)(
-*! 0!( %" -)'! *,.%&!- #) %(.) /("!-%&!
-)&/.%)(-*!1$%&!%.%-,/((%(#.$!2&12-,!./,(
.) .$! "!-%&! -)&/.%)( -*! ,!#%)( !/-! .$!
 (   1$%$ %("&/!(! .$! ').%)( )"
*,.%&!- %( .$! -*! ,! &12- %( .$! "!-%&!
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),.$%-)(-.,%(! )*.%'%3.%)(*,)&!'.$!')-.
!""%%!(. )*!,.%(# *)%(. )" !(#%(! ,! !.!,'%(! 
/-%(# &&.$!-!)*.%'/'*)%(.-&12--.%-"2

%#/,! &)1$,.)(-.,%(!  &#),%.$'




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




Page 0624

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

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


&2+6'%9%-'#2')+6'/+/4*'4#$-'
$'-07

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

#$-'
 %*#2#%4'2+34+%3


#8+.5. 6'2#)'

1''&.+-'*
%%'-'2#4+0/.3 



 

4#/&#2&
'6+#4+0/
  

  

  

 

+)52'  $'-07 3*073 4*' 2$#/ 9/#.0.'4'2


2+6' %*'&5-'   &2+6' %9%-' 53'& (02
3+.5-#4+0/
60


+)52' .1-'.'/4#4+0/0(/'2)9#/#)'.'/4
934'.

Vehicle Speed [miles/h]

Vehicle_lin_spd_dmd

02 3+.5-#4+0/ 4*' .0&'- +3 $5+-4 +/  7+4*


%0/(+)52#4+0/3#3.'/4+0/'&+/4#$-' $'-07

50
40
30
20
10
0

#$-' 0&'-%0.10/'/43&'4#+-3
0.10/'/4

0&'-

'/'2#402

,"0402

/'2)9402#)'

,"+0/#44'29

0402

,"0402

'#2$08

-#/'4#29'#2

/)+/'

,"2+53/)+/'

200

400

600
800
Time [s]

1000

1200

1400

+)52'  &2+6'%9%-'

*'3#.'.0&'-%0.10/'/43#2'53'&(02$04*
#/&  %0/420- 342#4')+'3 40 *#6' -')+4+.#4'
%0.1#2+30/3 0( 4*'3' 342#4')+'3  04* 4*' %0/420-
342#4')+'3 #11-+'& (02 4*'  &2+6' %9%-'  *'
 &2+6' %9%-' +3 0(   .+-'3 #/& 


Vehicle Speed Out [mile/h]

60
veh_lin_spd_out (PSAT Strategy)
veh_lin_spd_out (PSO Strategy)

50
40
30
20
10
0

200

400

600
800
Time [s]

1000

1200

1400

+)52' !'*+%-'05415431''&(02#/&
342#4')+'3

024*+3)+6'/&2+6'%9%-'4*'6'*+%-'(0--07'&4*'
&2+6' %9%-' 7*+-' 3#4+3(9+/) 4*' 1'2(02.#/%'

! /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
5%()#+% 2/%%$ &.1 ".3( 3(% 231!3%')%2 6()#( &.++.62
$1)5%#8#+%%7!#3+8
41)-' 3()2 $1)5% #8#+% 3(% %-')-% )2 ./%1!3%$ !3
./3),4, ./%1!3)-' /.)-32 ."3!)-%$ &1.,  &.1
3(%#.-31.+231!3%'8

!+2. (!2 2.,% -%'!3)5% 5!+4%2 6()#( .##41 6()+%


%-')-% )2 .&&  (%- %-')-% )2 .&& 3(% '%-%1!3.1
1.3!3%2 $4% 3. /+!-%3!18 '%!1 #.4/+)-' 2 ! 1%24+3
3(%%-')-%1.3!3%2!3,)-.12/%%$2.&!".43 1!$2%#
)-3(%1%5%12%$)1%#3).-
100
ess_soc (PSAT Strategy)
ess_soc (PSO Strategy)

95

Engine Torque [Nm]

100

SOC [% ]

eng_trq_out (PSAT Strategy)


eng_trq_out (PSO Strategy)

120

80
60

85
80

40
75

20
0
0

200

400

600
800
Time [s]

1000

1200

300
eng_spd_out (PSAT Strategy)
eng_spd_out (PSO Strategy)

200
150
100
50
0
-50

200

400

600
800
Time [s]

200

400

600
800
Time [s]

1000

1200

1400

 )'41%.&!33%18&.1!-$31!3%')%2

)'41% 2(.623(!33(%%-')-%3.104%)2#.-2)23%-3+8
-%!1 3(% ,!7),4, %-')-% 3.104% 6()#( )2 ,.1%
%&&)#)%-3./%1!3)-'1%').-&.13(%%-')-%

250

1400

)'41% -')-%3.104%&.1!-$231!3%')%2

E ngine S peed [rad/s ]

90

1000

1200

1400

)'41%-')-%2/%%$&.1!-$231!3%')%2

)'41%  2(.62 3(% %-')-%92 ./%1!3)-' 2/%%$ &.1


".3(!-$231!3%')%23#!-"%2%%-3(!3
3(% %-')-% )2 ./%1!3)-' !3 +.6%1 2/%%$2 &.1 
231!3%'8 #.,/!1%$ 3.  231!3%'8  %-#% 3(%
&4%+ #.-24,/3).- 6.4+$ !+2. "% 1%$4#%$
2)'-)&)#!-3+8&.13(%$1)5%#8#+%(%%-')-%2/%%$

)'41%  2(.62 3(%  .& 3(% "!33%18 &.1 ".3(


231!3%')%2  .3( 3(% 231!3%')%2 (!5% )-)3)!+  !2
(%%-$)-')2!+2.!+,.232!,%&.1".3(
231!3%')%2 6)3( ! ,)-.1 $)&&%1%-#% .&    (%
 42!'% &.1  231!3%'8 )2 ,.1% #.-2)23%-3+8
1%$4#%2  (%1%!2  &.1  231!3%'8 $%/+%3%2
5%181!/)$+8"%36%%-!-$ 2%#.-$2"%#!42%
.& 3(% 2(!1/ $%,!-$ .& 2/%%$ )- 3(% $1)5% #8#+%
"%36%%-3(!3/%1).$433()2)2!//1.7),!3%+8
,!)-3!)-%$"%36%%-
!-$ 1!$2%#$4%3.3(%
%-')-%/1.5)$)-'3(%/.6%1!-$"81%#.5%1)-',.1%
1%'%-%1!3)5%"1!*)-'
)'41%  2(.62 3(!3 3(% ,.3.1 3.104% )2 ,.1%
-%'!3)5% "%36%%-
 !-$  2%#.-$2 .& $1)5%
#8#+%.13(%2!,%14-3(%"!33%18#411%-3)2!+2.
-%'!3)5%
)- &)'41%   3 )-$)#!3%2 3(!3 ,.1%

1%'%-%1!3)5%%-%1'8)223.1%$)-3(%"!33%18&.1
231!3%'8 6(%- #.,/!1%$ 3.  231!3%'8  -
!$$)3).- "%36%%-  !-$  2%#.-$2 .& $1)5%
#8#+%3(%#411%-3)2,.1%/.2)3)5%&.1231!3%'8
%!-6()+% ,.3.1 3.104% )2 !+2. /.2)3)5% &.1 
231!3%'8 #.,/!1%$ 3. 3(%  231!3%'8 &.1 3(!3
$41!3).-  %-#% #.,/!1!3)5%+8 ,.3.1 /1.5)$%2
()'(%1/.6%1!3()'(%15%()#+%2/%%$23.2!3)2&83(%


-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*,;

M otor Torque [Nm ]

300

675&7*,; :.// 86* 21/;  , 2+ +8*/ :-*5*&6


!" 675&7*,; :.// 86*   , 2+ +8*/ :-.(- .6
6.,1.+.(&17
"&'/* !.08/&7.213267352(*66*))&7&(203&5.621+25
!"&1)!675&7*,;

mc_trq_out (PSAT Strategy)


mc_trq_out (PSO Strategy)

200


100

!"
!75&7*,;

!
#1.7
!75&7*,;

8*/
2168037.21

-100
0

200

400

600
800
Time [s]

1000

1200

1400

.,85*272572548*+25!"&1)!675&7*,.*6

 

 

0./*,&//21

2168037.21

  



%-0./*

&662+8*/
7275&9*/

0./*6

 



,

2:*575&.1
.).5*(7.21&/
&7-
++.(.*1(;





 



2:*575&.1
/26*)223
&.1








*5(*17&,*
1*5,;
*(29*5*)&7
&77*5;

 

 



'62/87*
&9*5&,*
).++*5*1(*21
9*-.(/*63**)6

 




0./*-

/*(75.(&/

250
ess_curr_out (PSAT Strategy)
ess_curr_out (PSO Strategy)

Battery Current [am ps ]

200
150
100
50
0
-50
-100

200

400

600
800
Time [s]

1000

1200

1400

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

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


!" 62+7:&5* &1) &5* 6-2:1 .1 "&'/*   "-*
5*68/76 6-2: -.,-*5 +8*/ 0./*&,* 2+  
0./*,&//21 +25 ! 675&7*,; &6 (203&5*) 72  
0./*,&//21 +25 !" 675&7*,;  *(&86* 7-* !6
+25'27-7-*675&7*,.*6&5*7-*6&0*+25.1.7.&/9&/8*6
&1) +.1&/ 9&/8*6 &/21, :.7- 7-* +&(7 7-&7 '27-
675&7*,.*6 (21680*) &'287 7-* 6&0* */*(75.(&/
*1*5,;7-*0./*,&//215*68/76&5*(203&5&'/*
!.1(*7-.6.662572+&'/*1)*)02)*675&7*,;:-*5*
'27-*1,.1*25&1)'&77*5;(&1'*86*)7232:*57-*
9*-.(/* .+ 7-*9*-.(/* 75&9*/6
 0./*6 ).67&1(*21
7-*6&0*#!)5.9*(;(/*"-*5*68/766-2:!

%* (&1 &/62 6** +520 7-* "&'/*  7-&7 7-* 29*5&//
'.).5*(7.21&/3&7-*++.(.*1(;+25!675&7*,;.6&/62
.1(5*&6*) 6.,1.+.(&17/; 72
  &6 (203&5*) :.7-

3*5(*17+25!"675&7*,;!.0./&55*68/76&5*
&/62+281)+2532:*575&.1(/26*)/223,&.1:-.(-.6
.1(5*&6*) 72  +25 ! 675&7*,;  "&'/*  &/62
6-2:6 7-&7 3*5(*17&,* 2+ *1*5,; 5*(29*5*) &7
'&77*5;)8*725*,*1*5&7.21.6&/62.1(5*&6*)127&'/;

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

Page 0627

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

A<
 /@1<:=/?32D7A6A63  4<?"%&
@A?/A35E  &67@ 4/1A 1/; 03 C3?74732 4?<: A63 :<A<?
A<?>B3 7; 475B?3  /;2 0/AA3?E 1B??3;A 7; 475B?3

4<? @7:B9/A7<; ?3@B9A@ 03AD33;  A<   @31<;2@
D63?3 9/?53 ;35/A7C3 A<?>B3@ /;2 ;35/A7C3 1B??3;A@
/?3 ?31<C3?32 /;2 @A<?32 7; 0/AA3?E  ; A63 @/:3
A/093A631<:=/?7@<;<4/0@<9BA3/C3?/5327443?3;13
03AD33;C367193@<BA=BA@=332/;223:/;2322?7C3
1E193 @=332 7@ 1/91B9/A32  A /9@< @6<D@ A6/A A63
=3?4<?:/;13 <4 C367193 7@ 7:=?<C32 4<? "%!
@A?/A35E1<:=/?32A<"%&@A?/A35E

5 Conclusions
3?3 A63 5?/273;A 4?33 /95<?7A6: =/?A7193 @D/?:
<=A7:7F/A7<; :3A6<2 D/@ B@32 A< 7:=?<C3 A63 4B39
31<;<:E<4A63"(C367193@7:=974732:<239
<4A63=<D3?@=97A6E0?723931A?71C367193=<D3?A?/7;
D/@ 23C39<=32  &67@ :<239 D/@ B@32 /9<;5 D7A6
"%! A< <0A/7; A63 <=A7:B: <=3?/A7;5 =<7;A@ <4
3;57;3D6793@/A7@4E7;5C/?7<B@1<:=<;3;A=6E@71/9
1<;@A?/7;A@ /@ D399 /@ C367193 =3?4<?:/;13
1<;@A?/7;A@&63?3@B9A7;5<=A7:B:<=3?/A7;5=<7;A@
<43;57;3D3?3A63;57C3;/@7;=BA@A<"%&:<239
&63?3@B9A@4?<:"%&:<239D3?31<:=/?32D7A6
"%&234/B9A@A?/A35E4<?@7:79/?=<D3?@=97A=9B5
7;6E0?723931A?71C367193
&63 ?3@B9A@ @6<D @75;7471/;A 7:=?<C3:3;A 7; A63
4B39 31<;<:E :793@5/99<; 4<? A63 C367193 D7A6
"%! @A?/A35E D6793 1<:=/?7;5 D7A6 723;A71/9
C367193 1<;475B?/A7<; 4<? "%& @A?/A35E 4<? /9:<@A
@/:3 3931A?71/9 1<;@B:=A7<; &63 =?<=<@32
/95<?7A6: 6/@ /9@< @6<D; 7;1?3/@3 7; 3;A7?3
=<D3?A?/7; 0727?31A7<;/9 =/A6 3447173;1E <4 C367193
B?7;5 A63 @7:B9/A7<; 7A D/@ /9@< 4<B;2 A6/A A63
=3?4<?:/;13 <4 A63 C367193 7@ 7:=?<C32 D63;
1<:=/?32D7A67A@"%&@A?/A35E1<B;A3?=/?A
&63 <=3?/A7;5 =<7;A@ <0A/7;32 63?3 /?3 <;9E 4<?
093;232 :<23 @A?/A35E D63?3 0<A6 3;57;3 /;2<?
0/AA3?E1/;03B@32A<2?7C3A63C3671933C3;74A63
0/AA3?E 6/@ @B447173;A =<A3;A7/9 A< 2?7C3 A63 C367193
D6716 7@ ;<A 23@7?/093 4<? @6<?A 27@A/;13@
11<?27;59E / 27443?3;A 1<;A?<9 @A?/A35E 1/; 03

2347;32 4<? @6<?A3? 27@A/;13@  &63 <=A7:B:


<=3?/A7;5 =<7;A@ 4<? A67@ '% 2?7C3 1E193 D/@
<0A/7;32 <4497;3 031/B@3 7A A<<8 @75;7471/;A /:<B;A
<4 A7:3 4<? A63 "%! /95<?7A6: A< /??7C3 /A A63
<=A7:B: =<7;A /A 3/16 A7:3 7;A3?C/9  %7;13 A67@
<4497;3 @A?/A35E 1/;;<A 03 7:=93:3;A32 <; A63 ?3/9
C367193 / ?3/9 A7:3 1<;A?<993? 7@ 1B??3;A9E 037;5
23C39<=324<?A631<??3@=<;27;5"%!@A?/A35E 

Acknowledgments
&67@?3@3/?16D<?8D/@:/23=<@@70930E/?3@3/?16
5?/;A 4?<: ;27/;/ !44713 <4 ;3?5E /;2 343;@3
3C39<=:3;A@ ! B;23? 5?/;A ;B:03?  
 

References
-
.
- .
- .

- .

-.

-.

-.

-.

6AA=DDD6E0?72C367193<?56E0?72C367193
67@A<?E6A:9/113@@32<;   
6AA=09<5D7?321<:1/?@  =?7B@A<?71
56A:9/113@@32<;   
 /?0<D@87  $<B@@3/B % "/53?7A "
%6/?3? Plug-in vehicle control strategy: From
Global Optimization to Real-time Application
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Page 0628

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

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