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(2018)000–000
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Applied Energy Symposium and Forum, Renewable Energy Integration with Mini/Microgrids,
Applied Energy Symposium and Forum,
REM 2017, 18–20 Renewable Energy
October 2017, Integration
Tianjin, China with Mini/Microgrids,
REM 2017, 18–20 October 2017, Tianjin, China
Optimization of a dual-motor coupled powertrain energy
Optimization of a dual-motor
The 15th International Symposiumcoupled on District powertrain
Heating and Cooling energy
management strategy for a battery electric bus
management strategy for a battery electric bus
Assessing
Wenwei Wang a,b
the feasibility
, Junhui Shi b,c,
of*,using the heat demand-outdoor
Zhipeng Zhang a,b and Cheng Lin a,a,
temperature functionfor Electricfor
a,b
a
Wenwei Wang , JunhuiaShi b,c,
long-term
*, Zhipeng district
Zhang heat a,b
and demand
Cheng Lin forecast
National Engineering Laboratory Vehicles, School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China;
a
bitev@bit.edu.cn (W.W.);
National Engineering MythDistance@163.com
Laboratory (Z.Z.);
for Electric Vehicles, lincheng@bit.edu.cn
School (C.L.)
of Mechanical Engineering, Beijing Institute of Technology, Beijing, China;
a,b,cCenter of ElectricaVehicles(Z.Z.); a Beijing Institute (C.L.)
b Technology, Beijing, China
c c
I. Andrić *, A. Pina , P. Ferrão , J. Fournier ., B. Lacarrière , O. Le Corre
b
Collaborative Innovation
bitev@bit.edu.cn (W.W.); MythDistance@163.com in Beijing,
lincheng@bit.edu.cn of
c
b
Department ofInnovation
Collaborative Automotive Engineering,
Center Tsinghua
of Electric University,
Vehicles in Beijing,Beijing,
BeijingChina
Institute of Technology, Beijing, China
c
Department
a
IN+ CenterofforAutomotive
Innovation,Engineering,
Technology Tsinghua
and PolicyUniversity,
Research -Beijing,
InstitutoChina
Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisbon, Portugal
b
Veolia Recherche & Innovation, 291 Avenue Dreyfous Daniel, 78520 Limay, France
Abstract c
Département Systèmes Énergétiques et Environnement - IMT Atlantique, 4 rue Alfred Kastler, 44300 Nantes, France
Abstract
As the global environment and energy problems become increasingly serious, electric vehicles are expected to play an
As the role
important global environment
in current and energy
and future problemsInbecome
transportation. increasingly
this paper, serious, electric
the configuration vehiclesseries
of a coaxial are expected
dual-motor to coupled
play an
Abstract
important
propulsion role
system in is
current and and
analysed, future
the transportation. In this function
optimization objective paper, the configuration
is obtained of a coaxial
for a power series strategy
management dual-motor coupled
in which the
propulsion system
control strategy is is analysed,
extracted and Dynamic
using the optimization objective
Programming function
(DP). is obtainedmodel
The simulation for a power
of the management
powertrain isstrategy
tested ininMATLAB
which the
District heating networks are commonly addressed in the literature as one of the most effective solutions for decreasing the
control
with strategy
different is extracted
strategies underusing Dynamic
standard Programming
driving The (DP).
cycles.These control The simulation modelfromof the powertrain isstrategy)
tested inreduces
MATLAB
greenhouse gas emissions from the building sector. systemsstrategies extracted
require high investmentsDP (DP-based
which are returned through the the
heat
with
energydifferent strategies
consumption by under compared
8.8% standard driving
with thecycles. The control
traditional strategies
proportional extracted
control from
strategy DP (DP-based
which simply strategy)torques
distributes reducesof the
sales. Due to the changed climate conditions and building renovation policies, heat demand in the future could decrease,
energy
two consumption
electric
prolonging motors by 8.8%
according
the investment compared
to default
return with the traditional proportional control strategy which simply distributes torques of the
period.ratios.
two electric motors according to default ratios.
The main scope of this paper is to assess the feasibility of using the heat demand – outdoor temperature function for heat demand
Copyright
forecast. ©©
The 2018 Elsevier
district Ltd. All rights
of Alvalade, reserved.
located in Lisbon (Portugal), was used as a case study. The district is consisted of 665
Copyright 2018 The Authors. Published by Elsevier Ltd.
Copyright
Selection
buildings ©that
and 2018varyElsevier
peer-review
in Ltd.
bothunder Allresponsibility
rights reserved.
construction period of
andthetypology.
scientificThree
committee
weather ofscenarios
the Applied(low,Energy
medium,Symposium
high) and
threeForum,
Selection and peer-review under responsibility of the scientific committee of the Applied Energy Symposium and and
Forum, district
Selection
Renewable
renovation
Renewable and peer-review
Energy
scenarios
Energy were under
Integration
Integration withresponsibility
developed
with (shallow, of
Mini/Microgrids,
Mini/Microgrids, the
REM
REM scientific committee
2017.deep).
intermediate,
2017 To estimateof thetheApplied Energy Symposium
error, obtained heat demandand Forum,
values were
Renewable
compared Energy Integration
with results with Mini/Microgrids,
from a dynamic REM 2017.
heat demand model, previously developed and validated by the authors.
Keywords:
The resultsDual-motor
showed coupled
that whenpowertrain; energy management
only weather strategy; battery
change is considered, electric bus;
the margin dynamic
of error couldprogramming; simulation
be acceptable for someanalysis
applications
Keywords:
(the errorDual-motor
in annualcoupled
demand powertrain;
was lower energy
thanmanagement
20% for allstrategy;
weather battery electricconsidered).
scenarios bus; dynamic However,
programming; simulation
after analysis
introducing renovation
scenarios, the error value increased up to 59.5% (depending on the weather and renovation scenarios combination considered).
1.The
Introduction
value of slope coefficient increased on average within the range of 3.8% up to 8% per decade, that corresponds to the
1.decrease
Introduction
in the number of heating hours of 22-139h during the heating season (depending on the combination of weather and
Electric
renovation vehicles
scenarios offer the significant
considered). On the otheradvantages
hand, function of low emissions
intercept and for
increased high energy conversion
7.8-12.7% efficiency,onand
per decade (depending the
based Electric
coupled thesevehicles
onscenarios). Theoffer
benefits, values thesuggested
significant
applications of advantages
could be used
electric toofmodify
vehicleslowinemissions
the andparameters
function
public high energy
transportation areconversion
for the scenariosefficiency,
expected toconsidered,
make great and
and
based
improve onthe
contributions these to benefits,
accuracy of heatapplications
addressing demand of environmental
electric vehicles
estimations.
the growing andinenergy
public problems
transportation
[1-5].areTheexpected
battery to make bus
electric great
is
contributions
especially to addressing
outstanding due to the growing
its locally freeenvironmental
emissions andand energy
obvious highproblems
efficiency[1-5].
[6-9].The battery electric bus is
© 2017
As The
especially Authors.
outstanding
electric Published
due
vehicle by locally
to its
technology Elsevier Ltd.emissions
has free
further and obvious
developed, high efficiency
more numerous [6-9].of electric powertrains have
applications
Peer-review undervehicle
As electric responsibility of the Scientific Committee of The 15th International Symposium on Districtpowertrains
Heating and have
appeared, including the technology
single-motorhas further
driven developed,
powertrain, more numerous
dual-motor coupledapplications
powertrainof(DMCP)
electric and multi-motor
Cooling.
appeared, including the single-motor driven powertrain, dual-motor coupled powertrain (DMCP) and multi-motor
Keywords: Heat demand; Forecast; Climate change
1876-6102 Copyright © 2018 Elsevier Ltd. All rights reserved.
Selection
1876-6102and peer-review
Copyright under
© 2018 responsibility
Elsevier Ltd. All of the scientific
rights reserved. committee of the Applied Energy Symposium and Forum, Renewable Energy
Integrationand
Selection with Mini/Microgrids,
peer-review REM 2017. of the scientific committee of the Applied Energy Symposium and Forum, Renewable Energy
under responsibility
Integration with Mini/Microgrids, REM 2017.
1876-6102 © 2017 The Authors. Published by Elsevier Ltd.
Peer-review under responsibility of the Scientific Committee of The 15th International Symposium on District Heating and Cooling.
1876-6102 Copyright © 2018 The Authors. Published by Elsevier Ltd.
Selection and peer-review under responsibility of the scientific committee of the Applied Energy Symposium and Forum, Renewable Energy
Integration with Mini/Microgrids, REM 2017
10.1016/j.egypro.2018.04.005
 Wenwei Wang et al. / Energy Procedia 145 (2018) 20–25 21
2 Wenwei Wang/ Energy Procedia 00 (2018) 000–000

distributed powertrain. DMCP is an innovative propulsion system that takes advantage of the lower cost, higher
efficiency and better dynamic properties compared with the single-motor driven powertrain.
However, the battery electric bus still suffers from current limitations, such as a long charging time, short
endurance mileage, high price, unsatisfactory charging service and large weight [10]. Therefore, reducing the energy
cost and enhancing the energy efficiency are fairly important and necessary for further application of battery electric
bus. As a result, to achieve this goal, identification of an optimal and appropriate power management strategy is a
high priority.
Currently, the theories that most power management strategies have adopted can be simply sorted into three
varieties: the heuristic control technique, static optimization method and dynamic optimization method or DP. As a
control algorithm, DP considers the dynamic nature of the powertrain
In this paper, DP is used to solve the optimal power management strategy problem for a dual-motor coupled
electric bus. The propulsion system of the urban electric bus is analysed, and the objective functions are defined to
realize energy distribution control of the electric motors in single mode or dual mode. The DP problem is
established and the rules are extracted simultaneously from DP. The simulation models are set up in MATLAB, and
the energy consumption values of the different power management strategies are compared.

2. Analysis of DMCP

The structure of the battery electric bus powertrain studied in this paper is shown in Figure 1. The torques of
the main motor (M1) and the auxiliary motor (M2) are coupled on a common axis, the motors are controlled by
motor controller 1 (MC1) and motor controller 2 (MC2), and the output torque of the drive assembly is the
summation of M1 and M2.

Fig.1. Configuration of the dual-motor coupled battery electric bus.

To simplify the design and manufacture of electric motors and buses, miniaturization of electric motors
conforms to the aims of modularization design and exploitation. As a result, motor manufacturers could eventually
decrease their product prices as the varieties of electric motors decrease and the output increases.

3. Analysis of the systematic energy distribution control problem

The coaxial dual-motor coupled urban electric bus is a multi-power source system. The energy distribution
control in this type of system must be built using explicit systematic requirements. This paper distributes the
required control to each execution unit using the control algorithm, and herein, the state-space model is expressed as
follows:
̇ ( ) ( )
{ (1)
( )
22 Wenwei Wang et al. / Energy Procedia 145 (2018) 20–25
Wenwei Wang/ Energy Procedia 00 (2018) 000–000 3

where x is the state vector of the system, y is the output vector, v is the generalized control vector, B is the
efficiency matrix and u is the control vector, and . ( ) ( ) ( ) are
general nonlinear functions.
The electric motors studied in this work can operate in four quadrants, and for co-rotation, they can operate in
both motor mode and generator mode, as does the inversion. For a coaxial series dual-motor propulsion system, the
powertrain energy distribution control problem can be classified into two categories: single mode (both motors
operate in the same mode, i.e., motor or generator mode) and dual mode (one motor operates in motor mode and the
other operates in either mode).And our study is mainly aimed at the dual-mode.
Under dual-mode operation, the efficiency of the electric motor varies in different modes. To correct the state-
( )
space model, we extend the control efficiency matrix , where [ ] , is the matrix
under motor mode, and is the matrix under generator mode. We introduce to represent the generator control
vector under dual-mode operation such that the system control vector changes to [ ] , and the control
distribution model under dual-mode is adapted as follows:

̇ ( ) ( )
{ [ ] (2)
( )

4. Establishment and solution of the DP problem

We define the instantaneous cost function as follows:

( ( ) ( )) ( ) ( ) （3）

From the above analysis, the control distribution optimization problem for the coaxial dual-motor coupled
propulsion system of a battery electric bus changes to a multistep decision problem that we can solve with the DP
method under a known condition. The solution obtained based on DP is a group of optimal control paths. If the
original state is certain, the optimal control strategy finds a path that can minimize the energy cost of the powertrain
and simultaneously ensure that the response can follow the dynamic requirement.

5. Simulation and analysis

5.1. Simulation

We realize the above DP problem using MATLAB programming and solve it with the kernel program of the DP
algorithm, simultaneously choosing CUDC as the optimizing condition. CUDC is shown in Figure 2, the cycle time
is 1314 seconds, and the mileage is approximately 5.8 km. We optimize the energy distribution control strategy of
single-mode and dual-mode operation with DP under this condition.

Fig.2. CUDC curve.

 Wenwei Wang et al. / Energy Procedia 145 (2018) 20–25 23
4 Wenwei Wang/ Energy Procedia 00 (2018) 000–000

The parameters of the model in the simulation is shown in Table 1 which derived from YuTong ZK6120.

Table1. Basic parameters of the ZK6120BEV.

Designation Parameter
Maximum total mass （kg） 18000
Curb weight （kg） 12800
Windward area（ ） 7.98
Drag coefficient 0.65
Rolling radius （m） 0.465
Final ratio 6.2
Mechanical transmission efficiency 0.95
Effective depth of discharging 0.85

5.2. Simulation analysis under dual-mode operation

Considering that the torque range of M1 is larger than that of M2, we change the constraint conditions of M2 to
operation under dual mode, and the simulation results for dual-mode operation are shown in Figures 3-6.

Fig.3. SOC curve under dual-mode operation.

Fig.4. Torque distribution of M1/M2 under dual-mode operation.

24 Wenwei Wang et al. / Energy Procedia 145 (2018) 20–25
Wenwei Wang/ Energy Procedia 00 (2018) 000–000 5

Fig.5. Operating point distribution of M1 under dual-mode operation

Fig.6. Operating point distribution of M2 under dual-mode operation.

From the above figures, we observe that SOC decreases from 90% to 86.2%, and most operating points of M1
and M2 are in the high efficiency zone. Simultaneously, inverse torque operating points appear for M2, i.e., M2
operates in generator mode occasionally. Dual mode makes the torque distribution more flexible compared with the
proportional control strategy, additional operating points appear in the high efficiency zone, and simultaneously, the
efficiency of M1 under low speed and low torque condition increases as the result of M2 operating as a generator.

5.3. Analysis of energy consumption of the system

The energy consumption of the system is shown in Table2. We observe that the DP algorithm can effectively
reduce the energy consumption of the bus, and the overall economy can be enhanced using the optimal control
strategy by more than 8% compared with the traditional proportional control strategy. At the same time, DP shows
better performance under dual-mode operation.

Table 2. Energy consumption of 6120BEV with different control strategies under CUDC.

Energy consumption Percentage of

Control strategy
（kWh/100 km） advance
proportional control strategy 120.1 --

DP/single-mode 110.5 8.0%

DP/dual-mode 109.5 8.8%

 Wenwei Wang et al. / Energy Procedia 145 (2018) 20–25 25
6 Wenwei Wang/ Energy Procedia 00 (2018) 000–000

6. Conclusion

This paper analysed the configuration of propulsion systems on an electric bus and performed optimization
studies on power management of a multi-power propulsion system using global optimization theory based on DP.
We established a mathematically optimal model in which SOC is chosen as the state variable and the torque of the
electric motors serves as the control variable. Simultaneously, an evaluation function was defined based on energy
consumption of the system. We performed the optimization process in MATLAB under variations of the bus driving
cycles and extracted control strategies to verify the control effect in the simulation model. The simulation result
shows that the power management strategies extracted from DP could optimize the operation points of the electric
motors with obvious positive effects and consequently improve the efficiency of the system and decrease the energy
consumption.

Acknowledgements

This work was supported in part by the National Key R&D Program of China (2017YFB0103801).

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