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Article ID: 04-17-01-0001
© 2024 The Lubrizol
Corporation and Shell
Global Solutions US
doi:10.4271/04-17-01-0001
History
Abstract Received: 02 Aug 2022
Hybrid electric vehicles (xHEV) are a critical enabler to fulfil the most recent CO2 and fuel economy Revised: 03 Mar 2023
requirements in key markets like North America, China, and Europe [1, 2]. Different levels of hybrid- Accepted: 05 Apr 2023
ization exist; the main differentiator is the power of the electric system and battery capacity. Increased e-Available: 04 May 2023
electrical power enables the vehicle to run more often in electric mode and recuperate energy from
braking, which enhances the saving potential [3]. Mild (MHEV) and plug-in hybrid vehicles (PHEV) Keywords
impose different duty cycles on the engine compared to a conventional powertrain, potentially Engine oil, Hybrid electric
altering the degradation mechanisms of the lubricant, and challenging the basis on which the lubri- vehicle, Degradation,
cant should be condemned [4]. The biggest concerns are water and fuel dilution [5], which promote Engine, Emulsion, Sludge,
corrosion and can form emulsions [6]. This may result in so-called white sludge formation (a thick Electrification, Hybrid, Drive
cycle, Lubrication
and creamy emulsion) which can deposit inside the engine on colder surfaces, potentially blocking
pipes and breather hoses [6]. White sludge deposits on the oil filler cap can become visible to the
vehicle operator and may be a reason for concern. Many original equipment manufacturers (OEMs), Citation
and their customers, need advice in defining the important oil parameters for the oil to be fit for Growney, D., Joedicke, A.,
purpose. If oil and additive companies are to respond to these challenges, an increased awareness Williams, M., Robin, M. et al.,
and understanding of oil degradation in modern vehicle platforms is required. In this work, we have “Hybrid Electric Vehicle
investigated the operating conditions in different hybrid vehicles and their impact on the engine oil. Engine Operation and
Engine Oil Degradation: A
First, a chassis dynamometer (CD dyno) test program was conducted to understand how three
Research Approach,” SAE
different concepts influence engine operation, specifically the engine oil temperature and the number Int. J. Fuels Lubr. 17(1):2024,
of stop/start events. Second, engine dyno testing was designed to replicate a worst-case scenario, doi:10.4271/04-17-01-0001.
extrapolating some of the observations from CD testing, to investigate the effect of an extreme
drive cycle on the engine oil degradation and contamination. Finally, an analysis of the chemical and ISSN: 1946-3952
physical properties of these engine test drain oils, and the resulting impact on wear protection and e-ISSN: 1946-3960
engine cleanliness, was undertaken to understand the risks associated with worst-case scenario
xHEV operation.
© 2024 The Lubrizol Corporation and Shell Global Solutions US. Published by SAE International. This Open Access article is published
under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/), which permits distri-
bution, and reproduction in any medium, provided that the original author(s) and the source are credited.
1
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2 Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024
Results—Hybrid Vehicle is certified with a ∼15% fuel economy benefit compared to the
conventional vehicle on an NEDC (New European Driving
Engine Operation Cycle) basis. The PHEV was certified 64% lower than the
conventional vehicle, but this difference is mainly caused by
Characterization with the specific legislation procedure for PHEVs and is not suitable
to compare the efficiencies between the concepts.
Chassis Dynamometer
Testing Test Protocol The different hybrid vehicles were run in
the Worldwide harmonized Light-duty vehicles Test Cycle
(WLTC) on a chassis dynamometer (CD dyno)-driven roboti-
Methodology cally. The aim was to understand the potentially different
behaviors of these technologies. All vehicles were tested at
ambient temperatures of 23°C and 10°C. The PHEV was tested
Vehicle Selection Figure 1 gives a high-level overview
with the battery fully depleted and with the battery fully
of the different levels of powertrain electrification and the
charged. Typically, three WLTCs were run back to back per
additional functionalities enabled by the electrification. A
vehicle. The first WLTC was temperature-conditioned over-
vehicle platform was selected, which was available in
night and was therefore a cold-start test. The following two
two different hybrid vehicle concepts and a conventional
test cycles were started warm with the engine temperature
architecture for the same vehicle chassis (emissions level: EU6c
equal to that reached in the preceding WLTC. The battery
or higher). The powertrains are all based on the same four-
state of charge (SoC) was set the day before, ahead of the
cylinder turbo direct injection base engine. This helps to
soak time.
minimize the impact of the vehicle chassis and original equip-
The focus of this test program was to collect and compare
ment manufacturer (OEM)-specific calibration strategies
data for the different hybrid vehicle concepts concerning:
although this cannot be fully excluded. The following vehicles
were selected: •• Engine oil and coolant temperatures over time
•• Plug-in HEV (PHEV) with an electric range of about •• Incidence of start/stop events
50 km
•• Engine speed and load distribution in the test cycle
•• 48 V mild HEV (MHEV) without e-driving capabilities
Repeats of the above concerns were run for selected
•• 12 V stop/start conventional vehicle for reference vehicles and conditions to indicate the variability of the
In the 48 V MHEV, the electric motor is attached to the test runs.
front end assembly of the engine and is connected via a belt
to the crankshaft and cannot be decoupled from the internal Vehicle Instrumentation Most of the measurement
combustion engine (ICE). Fully electric driving is not possible variables were available from the engine management system,
with this architecture. Nevertheless, it is expected that 48 V while thermocouples were added to measure the temperature
hybrid vehicle concepts will have the highest growth rates in in the oil sump and for safety control. Vehicle speed and
the market driven by their cost-effectiveness. The 48 V MHEV torque at the wheels as well as the fuel mass flow (via a Coriolis
Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024 3
FIGURE 2 Oil sump temperature in three consecutive WLTC for the 12 V stop/start vehicle (start temperature 23°C) measured
by the CD.
cell) were recorded by the test cell. The data were recorded response. The oil temperature in the oil sump (thermocouple
with a sampling rate of 1 Hz. from the test cell) rose more slowly as the whole oil volume
needed to heat up, and there were no heat sources in the sump.
Additionally, the oil sump was externally cooled by airflow
Conventional Vehicle: Warm- in the test cell, emulating the airstream typically present
Up and Ambient Temperature when driving.
Impact The impact of ambient temperature on engine oil temper-
ature can be seen in Figure 4, which shows engine oil sump
Figure 2 shows the engine oil temperature heat-up curve temperature for two cold starts at 10°C and two 23°C starts.
during back-to-back WLTC for the conventional vehicle. The The test cell temperature was closed-loop controlled and was
engine oil temperature reached more than 100°C at the end of constant during testing. For each start temperature, both the
the first WLTC and stayed at this level in the subsequent WLTCs. Eco and Comfort driving modes were tested. These different
A comparison between the different temperature sensors calibration settings showed only a minor difference in the
is shown in Figure 3. The coolant and the oil temperature engine oil temperature profile.
measured by the engine management system (probably located The difference in the starting temperatures reduced
in the cylinder head) show a much faster increase and a similar continuously over the test cycle run time. At the beginning
FIGURE 3 Comparison of the different temperature sensor signals in a WLTC for the 12 V stop/start vehicle (start temperatures
23°C).
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4 Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024
FIGURE 4 Oil sump temperature and test cell temperature in the WLTC for the 12 V stop/start vehicle measured by the CD. The
test was repeated with two different start temperatures (23°C and 10°C) and two different calibration settings (Eco mode and
Comfort mode).
FIGURE 5 Oil sump temperature in the WLTC for the 12 V stop/start vehicle, 48 V MHEV, and PHEV (100% initial SoC and 0%
initial SoC) with 23°C start temperature, as measured by the CD.
© The Lubrizol Corporation and Shell Global Solutions US
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Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024 5
FIGURE 6 (a) Number of engine starts and (b) Time the engine is off during WLTC, measured by the CD. The PHEV was in
Auto-E mode.
produced by the engine should be sufficient to heat the engine dependence of the oil temperature warm-up on the SoC. It
to higher levels. The reason for the reduced temperature level can also be seen that the oil temperature mainly increases in
of the 48 V hybrid is unknown to the authors. the higher speed Phases 3 and 4 of the WLTC, showing the
Apart from the PHEV with 100% SoC, the engine is drive cycle impact.
stopped and started more often for the hybrid vehicle concepts, The behavior of the hybrid vehicles varied significantly,
as shown in Figure 6. While the conventional 12 V stop/start although the boundary conditions were the same between
concept only stopped the engine when the vehicle speed was tests. The operation strategy seemed to be impacted by the
zero, the hybrid vehicle concepts were shown to be capable of battery charge management and many more parameters.
stopping the ICE when the vehicle was still moving. As the We have selected here a cycle typical of the most
ICE can be restarted with the much more powerful electric common performance.
motor (versus a traditional starter motor), the ICE start is very
fast and comfortable, making this almost unnoticeable to the City Driving As a worst-case scenario, the low phase of the
driver. This allows the hybrid vehicle to switch off the ICE WLTC (representative of slow city driving) at 10°C ambient
even for very short durations and under decelerating condi- temperature was repeated four times for each of the three
tions. As the electric motor of the PHEV can propel the vehicle vehicle types (PHEV in max E-drive mode). The temperature
on its own the ICE can be switched off if it would, otherwise, profiles are shown in Figure 8.
be running at low efficiency. The PHEV behavior in Figure 8 was different from Figure
The increased number of engine stop/start events lead to 7, in which the engine had less run time in the first 600 s and
reduced engine run times for the hybrid vehicle concepts, a lower oil temperature was seen. This may be related to the
especially for the PHEV. At a sufficient battery charge, the ICE preconditioning of the battery on the day before the test. For
only needs to be started if the power demand cannot be met the full WLTP test (Figure 7), the vehicles were preconditioned
by the electric motor. Even when started with a nominally by running WLTPs until the battery was depleted; for the test
fully depleted battery (depleted the day before), the PHEV can in Figure 8, the battery was depleted by running the vehicle
run for a significant amount of time in E-drive mode, using under steady-state conditions at 80 km/h. Also, the drive
the energy from recuperation. In a typical PHEV run with a mode was different. This indicates that the PHEV shows even
depleted battery, the engine-off time is three times higher higher variations of the oil temperature warm-up in real-world
compared to the 48 V MHEV, leading to lower usage where the operation and boundary conditions are less
engine temperatures. controlled compared to a CD test.
The PHEV with 100% SoC has only five engine starts as The PHEV seemed to be able to heat up the engine oil
the engine run time is significantly reduced and the ICE is faster than the other vehicles and then will plateau as the
mainly on in the high-speed sections. Relative to the engine temperature is maintained—for example, at approximately
run time, this is a similar number of engine starts as with 0% 65°C between 600 s and 1200 s. We believe this is due to more
SoC. Figure 7 shows the oil temperature in three consecutive sophisticated thermal management with additional hardware
WLTCs for the PHEV with 100% SoC and 0% SoC. The oil and software measures to accelerate engine warm-up. The
temperature is lower for much longer when starting with a OEM appears to be aware of potential issues caused by low
full battery until the battery is depleted, showing the engine oil temperature and has committed to optimize the
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6 Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024
FIGURE 7 Oil sump temperature in three consecutive WLTC for the PHEV (100% initial SoC and 0% initial SoC) with 10°C start
temperature, as measured by the CD. The PHEV was in Auto-E mode.
FIGURE 8 Oil temperature in the sump during four back-to-back WLTC city driving conditions for the 12 V stop/start vehicle,
48 V MHEV, and PHEV (0% initial SoC) with 10°C start temperature, as measured by the CD. The PHEV was in max E-drive mode.
© The Lubrizol Corporation and Shell Global Solutions US
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Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024 7
FIGURE 9 WLTC distributions of engine load for the (a) 12 V, (b) 48 V, (c) PHEV, and engine speed for the (d) 12 V, (e) 48 V, (f)
PHEV. At 23°C start temperature, PHEV data for 0% SoC. The PHEV was in Auto-E mode.
© The Lubrizol Corporation and Shell Global Solutions US
the vehicle behavior and therefore on the oil temperature levels due to enhanced E-drive capabilities. Due to the reduced ICE
under real-world usage. Engine and vehicle design and calibra- run time, the engine oil warm-up is slower, and depending
tion also play an important role; the normal operating temper- on the drive cycle and SoC, it may lead to a situation where
ature level (~90°C, Figure 5) for the 48 V MHEV at the end the ICE is started occasionally but never reaches high enough
of a WLTC was the lowest, and this is likely a design decision. oil temperatures for entrained water to evaporate as the ICE
The number of stop/start events for the hybrid vehicles run time is short. If the SoC is high and the drive cycle power
in the WLTC was roughly two to three times higher than for demand low, the ICE does not have to run at all, and no water
the conventional 12 V stop-start vehicle. This will increase is entrained into the oil. If the SoC is low and the power
the stress in the first crankshaft bearing. demand high, the ICE run time is sufficient to reach higher
It can be expected that hybrid vehicles are more often run oil temperatures which enable the evaporation of accumulated
at low engine oil temperatures, PHEVs being the most critical water. The worst-case scenario regarding oil temperature is,
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8 Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024
in the authors’ opinion, the PHEV when driven at a medium engine tests (xHEV drain and ICE drain), resulting in further
SoC, in low ambient temperatures, and on short trips with engine drains defined as “xHEV Aged Oil” and “ICE Aged
light-duty cycles such as city driving. Oil”; see Figure 10. This engine test was used to evaluate oil
The concern with low oil temperatures is that increased cleanliness performance when subjected to sump tempera-
water and fuel could accumulate in the engine oil. In extreme tures of 115°C sustained for 50 h and was used to determine
cases, high water and fuel content in the oil can cause issues whether an oil containing high water and fuel content is detri-
for the integrity of the engine. Corrosion, wear, additive chem- mental to engine cleanliness. Piston grooves, lands, and
istry depletion, and the formation of white sludge are potential undercrowns were visually inspected to obtain a piston merit,
problems the oil must protect against. These concepts will be and the drain oils (xHEV Aged Oil and ICE Aged Oil) were
discussed in more detail later. retained for further analysis.
FIGURE 10 Schematic showing initial engine test cycles and subsequent oil naming strategy for drain oils used in this study.
The fresh oil is first subjected to either the sustained cold operation test cycle to generate the “xHEV Drain” or the WLTC / RDE test
cycle to generate the “ICE Drain.” Both xHEV and ICE drains were then separately run through a cleanliness engine test cycle to
produce the “xHEV Aged Oil” and “ICE Aged Oil,” respectively.
© The Lubrizol Corporation and Shell Global Solutions US
FIGURE 11 Water content and fuel dilution measured over the course of the sustained cold operation engine test. Overlaid are
photographs of the intermediate “xHEV Drain” samples taken from the sump via the dipstick tube. Images were taken immediately
after sampling. The engine test cycle and temperature are shown in Figure 10.
© The Lubrizol Corporation and Shell Global Solutions US
9
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10 Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024
FIGURE 12 Water content and fuel dilution measured over the course of the WTLC / RDE engine test. Overlaid are photographs
of the intermediate “ICE Drain” samples taken over the course of the test.
TABLE 1 Element concentration (by weight) measured by ICP-AES (ASTM D5185) for each drain oil.
Elemental concentration
by weight (ppm) xHEV drain ICE drain xHEV aged oil ICE aged oil
Sulfur 1630 2019 1490 1505
Phosphorous 611 749 609 603
Zinc 687 831 880 820
Calcium 826 973 1108 1059
Magnesium 391 465 529 496
Boron 126 118 94 46
Iron 5 2 29 19
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Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024 11
FIGURE 13 Average wear scar width in boundary wear test, as measured using a Phoenix Tribology TE-77. Inset: Microscope
images of the wear scar for Fresh oil, xHEV drain, and ICE drain samples (scale bars = 250 μm).
the emulsion under these conditions and the potentially resul- PM and 1.8 for UCM, and the standard deviation of reference
tant interactions with the surface thereafter. This drop in results is 0.25 for PM and 0.27 for UCM. The PM rating is
traction could impact the lubricating film, leading to addi- measured as 2.6 for the xHEV aged oil and 3.0 for the ICE
tional wear. Stribeck curves were generated using a PCS MTM, aged oil. The UCM rating is measured as 3.1 for the xHEV
using standard polished steel balls and disks at an SRR of aged oil and 3.6 for the ICE aged oil. The comparison of
100% (which corresponds to equal sliding and rolling) and Pistons 1–4 shows a clear reduction in performance for the
load of 72 N. xHEV aged oil relative to the ICE aged oil for both the PM
Engine cleanliness is also affected by the formation of a and UCM. (Note that Pistons 1 and 4 usually have the lowest
high fuel and water content emulsion during the xHEV cycle. severity [highest rating] as they experience slightly lower oper-
Figure 15 shows the results of running the xHEV drain and ating temperatures due to their position in the engine block.)
ICE drain through a high-temperature gasoline cleanliness The greater severity observed for the xHEV drain compared
engine test cycle. At the end of this 50 h test cycle, the pistons to the ICE drain indicates a high fuel and water dilution oil
were rated using a full CRC rating method; the method uses is less effective at realizing piston cleanliness. This could
a full color scale from 0 (being black) and 10 (being clean), be significant for xHEV vehicles which alternate between low-
with the depth of any carbon from trace carbon to full thick- speed city driving conditions (where high fuel and water
ness carbon also rated. Two ratings were obtained: piston content emulsions can form) followed by high-speed highway
grooves and lands merit (PM) and piston undercrowns merit driving conditions (where high-temperature oil degradation
(UCM). Each rating is a mean average of the pistons from all can occur).
four cylinders (as shown in Figure 15). The average delta When comparing the TBN of the drain/aged oils to that
between high and low reference oils used in this test is 2.0 for of the fresh oil [Figure 16(a)], the aged oils showed lower TBN
FIGURE 14 Stribeck curves for (a) xHEV drain oil and (b) ICE drain oil at five different temperatures.
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Global Solutions US
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FIGURE 15 Piston grooves and lands merit (PM) and piston undercrown merit (UCM) ratings from high-temperature cleanliness
engine testing on xHEV aged oil and ICE aged oil used in this test. The values for Cylinders 1–4, and the mean average are shown. A
higher number equates to a cleaner surface.
12
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Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024 13
(greater degradation) versus the initial drains, as expected. warm, and upon cooling, acidic water droplets may condense
Interestingly, the xHEV drain showed a lower TBN versus on metal surfaces.
both fresh oil and the ICE drain oil. It is assumed that, since Data relating to iron wear in the xHEV drain and aged
the xHEV drive cycle is not severe (see Figure 10), this may, oils (see Table 1) suggest corrosion was not significant here
in fact, be linked to additive partitioning into the aqueous since iron content is comparable with that for the ICE drain/
emulsion phase in the oil rather than acid neutralization [7]. aged oils. Furthermore, TBN and i-pH remain relatively high
Any basic additive that partitions into the aqueous emulsion and TAN relatively low (Figure 16), overall indicating rela-
phase is not measured (due to the insolubility of the aqueous tively low oil degradation. Although not observed in the
emulsion phase in the largely organic solvent system used current research, corrosion is something that could manifest
for ISO 3771 measurement), leading to a lower TBN for the over a longer period of vehicle operation for the aforemen-
oil phase. This hypothesis is in contrast to an irreversible loss tioned reasons and must be considered an engine degradation
of TBN in the presence of water, as reported elsewhere [7]. pathway in xHEVs.
TAN was also measured for the drain/aged oils to charac- Benchtop corrosion testing is often used to replicate real-
terize the build-up of acid [Figure 16(b)]. Performance was world issues. In this body of work, such testing has not been
similar between xHEV and ICE oils; in both cases, aged oils relied upon due to the complexity around the presence of water
demonstrated higher values than the initial drains, as and fuel in the drain and aged oils. In vapor phase corrosion
expected, due to further degradation during the second testing, the presence of fuel can protect the metal test piece since
(high-temperature cleanliness) engine test. The use of i-pH the fuel will vaporize and effectively reduce the local concentra-
[Figure 16(c)] is not standard practice for automotive engine tion of acid vapor around the test piece, therefore reducing
drain oil analysis; however, the authors believe it adds impor- corrosion. In the submersed phase corrosion testing, fuel
tant insights linked to oil degradation/acidification because presence can affect acidic water-in-oil emulsion stability and
the use of traditional TAN and TBN measurements is an therefore change the test piece exposure to acidic water versus
oversimplification of the complex acid and base mixtures in oil without fuel present. This can give misleading results which
used engine oil [8, 9]. In this case, the i-pH data shows a will not necessarily align with real-world engine conditions.
build-up of strong acids (lower i-pH) for each aged oil. This Emulsion stability is also a possible reason for concern.
appears slightly more significant for the ICE drain/aged oil If a hybrid vehicle which has accumulated significant water
versus the xHEV counterparts. Kinematic viscosity could (and fuel) in the engine oil (due to operating conditions), thus
not be measured for the xHEV drain due to the high water forming an emulsion in the oil, is parked for a long period
content emulsion. Kinematic viscosity measured at 100°C (weeks), phase separation may occur over time giving a water-
remained constant between 7.4 cSt and 7.9 cSt for all other enriched layer at the bottom of the oil pan. In extreme cases,
fresh oil, drain, and aged oil samples. phase separation may lead to a water layer at the bottom of
Water and fuel ingress cannot be considered as a single the sump where the oil pump pickup is located. When starting
effect on oil properties in an engine; there are multiple factors the engine, the oil pump would extract this water rather than
to consider when understanding the consequences on engine oil, thus leading to lubricant starvation. As such, the ability
hardware. Generally, water ingress will lead to water-in-oil of the engine oil to retain a stable emulsion is important
emulsion formation; however, in some areas of the engine, (although water release must also be a consideration, which
this will become a very high water content emulsion, with can be hindered if the emulsion is too stable).
consistency likened to mayonnaise (this is often called “white Cold temperature performance must be a consideration
sludge”). Typically, this water-in-oil emulsion will build up for xHEV architectures. It may be assumed that a high water-
in breather hoses and on the engine oil filler cap. White sludge content oil is more problematic at low temperatures (ice forma-
is known to be corrosive due to its high water content and can tion); however, the fuel content should also be considered. In
therefore be problematic. Other types of corrosion can also the current work, it was, in fact, observed that the low temper-
be important in an engine oil with high water and fuel ature cranking viscosity (CCS, cold cranking simulator)
dilution. Both submersed phase and vapor phase corrosion measured at −35°C according to ASTM D5293 was lower for
must be considered. The former can be significant when the the xHEV drain (2450 cP) than for the fresh or ICE aged oils
oil forms a water-in-oil emulsion and acid from oxidative (4656 cP and 4900 cP, respectively). Fuel dilution is assumed
degradation of oil and incomplete combustion of fuel, leading to be the reason for this, alongside the reduction in the freezing
to a subsequent corrosive acidic emulsion. This can be thought point of water observed when emulsified.
of as potentially significant in the lower parts of the engine
where component oil submersion is common. The latter is
assumed more significant in the upper parts of the engine/
valvetrain components, where volatile acids such as formic Conclusions
acid and acetic acid will form an acidic (and therefore corro-
sive) vapor cloud. This can further mix with water vapor to This work has shown that the implementation of vehicle
form a humid and corrosive environment when the engine is electrification may present new operating conditions for
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14 Growney et al. / SAE Int. J. Fuels Lubr. / Volume 17, Issue 1, 2024
the engine oil and new challenges that must be met. Chassis
dyno testing showed that even within the WLTC procedure,
Contact Information
a challenging operating regime can be identified; the David Growney
highest risk comes with the PHEV, promoted by the Corresponding author
following conditions: david.growney@lubrizol.com
01332845231
•• Medium battery SoC level
•• Low ambient temperatures
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The authors would like to acknowledge the contribution of the Whole Story: Understanding the Neutralization of
Emma Fahey, Chris Saxton, Chris Jones, and Benjamin Organic Acid in Engine Oils,” SAE Int. J. Fuels Lubr. 14, no. 3
Haefele to this work. (2021): 297-309, doi:https://doi.org/10.4271/04-14-03-0013.
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