ECEN 5017 Lecture 6

CU‐Boulder Announcements
• HW2 due 9am MDT, Monday, Sep. 16
– Submit a single, easily readable pdf file, including all relevant 
analytical and simulation results via D2L
– Submit simulation files as requested, but do not assume the 
grader will run your simulations to generate the results
– Late work will receive no credit
– Collaboration is encouraged; use the blog

Please disregard USU‐specific announcements in lectures recorded by Prof. Zane at USU

1
Review
• Transportation electrification: EV, HEV, PHEV, …
• Vehicle dynamics: fundamental limits, power and 
energy requirements, component requirements
Today
• Design validation via system simulation
• Component requirement and system performance 
analysis via drive cycle simulation
• Vehicle controller design: small‐signal analysis
Next week
• Continue vehicle controller design (for EV)
• Introduce hybrid EV architectures
2
 Review acceleration example
 
Example
Mv = 1500 kg Pv required 
1 Mv 2 1
vb  v f  Cd Av v 3f  C r M v gv f
2

Cd = 0.26 2 ta 2
Cr = 0.01 Acc. performance spec: 0‐60 mph in t a  10 s
Av = 2.16 m2
x = 4 (vb = 25 MPH)
rw = 0.3 m Pv required  74 kW 99 hp 

Battery: 10 kWh

3
Energy Required

4
Simulation model setup

Acceleration parameters
v f  60 MPH  26.8 m/s
t a  10 s
Pv max  74 kW 99 hp 
M v vb2
Pvavg  Pv max   56.3 kW
2t a
E  Pvavg  t a  0.156 kWh
5
Sim Setup

6
 Drive Train Model

Fv
v

nv
Ia Te
Pbatt PDC Tv
Battery DC-DC 3-phase Ib Electric
Pack Converter Inverter Motor Transmission
Ic
ne
Electric Drive

wheels
Battery (radius rw )
Charger

7
Simulation results: 100% efficiency
10000
Drive Force

Force [N] 5000 Resistive Force

400
Inverter input current
Current [A]

200 Battery current

0
0 5 10 15
2000
Torque [Nm]

Motor torque
1000 Wheel torque

0
0 5 10 15
Motor currents [A]

500

-500
0 5 10 15
time [sec] 8
Simulation results: 100% efficiency
100

Speed [mph]
Reference Speed
50 EV Speed

100
Battery SOC [%] Battery Energy [kWh] Inst. Power [kW]

Tractive Power,
50 X: 8.592 Battery Power
Y: 74

0.2

X: 8.597
0.1
Y: 0.1501

0
0 5 10 15
100

99

98
0 5 10 15
time [sec]
9
 Simulation results: 81% efficiency
100
Speed [mph]
Reference Speed
50 EV Speed

100
Battery SOC [%] Battery Energy [kWh] Inst. Power [kW]

X: 8.594 Tractive Power,

50 Y: 90.81 Battery Power

0.4

0.2
X: 8.595
Y: 0.1848
0
0 5 10 15
100

98

96
0 5 10 15
time [sec]
10
US06 Drive Cycle Simulation

11
 US06 simulation results
10000
Drive Force

Force [N]
5000
Resistive Force
0

-5000

400
Inverter input current
Current [A]

200
Battery current
0

-200
0 100 200 300 400 500 600
2000
Motor torque
Torque [Nm]

Wheel torque
0

-2000
0 100 200 300 400 500 600
500
Motor currents [A]

-500
0 100 200 300 400 500 600
time [sec] 12
 US06 simulation results
100

Speed [mph]
Reference Speed
EV Speed
50

100
Inst. Power [kW]

Tractive Power,
50
Battery Power
0

-50
Battery Energy [kWh]

0
0 100 200 300 400 500 600
100
Battery SOC [%]

90

80
0 100 200 300 400 500 600
time [sec] 13
 US06: with Pe_max = 30 kW
100

Speed [mph]
50
Reference Speed
EV Speed
0

50
Inst. Power [kW]

Tractive Power,
-50
Battery Power
Battery Energy [kWh]

0
0 100 200 300 400 500 600
100
Battery SOC [%]

90

80
0 100 200 300 400 500 600
time [sec]
14
Vehicle controller design

15
 Basic open‐loop model

Simplified closed‐loop model

16
Vehicle dynamics small‐signal model
dv  1 
Mv  Fv   M v gz  C r M v g  C d Av v 2 
dt  2 

17
Loop gain analysis

18