1

ME566 Modeling, Analysis and Control of Hybrid Electric Vehicles

Winter 2014

MW 2:00-3:30pm

Huei Peng 3012 PML, hpeng@umich.edu, 936-0352

GSI: Tianyou Guotianyou@umich.edu

Office hours: Tue 9-10am (Guo, F2F+WebEx), Tue 3:30-4:30pm (Peng, F2F), Wed 9-10am (Guo, F2F), Thu 3:30-4:30pm (Peng, F2F+WebEx)

WebEx only: Mon 8-9pm (Peng), Wed 9-10pm (Guo, WebEx)

ME566 Lecture 1- 1

Lecture 1‐‐ Introduction and Motivation

• Need for alternative power‐trains

– Energy

– Environment

• About this course– Objectives– Course content– Grading policy– HW, Exam, Final project

• Basics of improving vehicle efficiency and reducing environmental impacts

ME566 Lecture 1- 2

World Crude Oil Reserve/Production Ratios

BP Statistical Review of World Energy June 2013bp.com/statisticalreview ME566 Lecture 1- 3

ME566 Lecture 1- 4

ME566 Lecture 1- 5

Oil Price

BP Statistical Review of World Energy June 2013bp.com/statisticalreview ME566 Lecture 1- 6

Top World Oil Stakeholders (2011)

Rank Country Consumption Rank Country Imports Rank Country Exports

1 United States 18,835 1 United States 8,748 1 Saudi Arabia 8,336

2 China 9,790 2 China 5,487 2 Russia 7,083

3 Japan 4,481 3 Japan 4,346 3 Iran 2,540

4 India 3,292 4 India 2,349 4 United Arab Emirates 2,524

5 Russia 3,145 5 Germany 2,258 5 Kuwait 2,343

6 Saudi Arabia 2,817 6 Korea, South 2,167 6 Nigeria 2,257

7 Brazil 2,594 7 France 1,729 7 Iraq 1,915

8 Germany 2,423 8 Spain 1,346 8 Norway 1,762

9 Canada 2,239 9 Italy 1,294 9 Angola 1,760

10 Korea, South 2,227 10 Singapore 1172 10 Venezuela 1,715

11 Mexico 2,078 11 Taiwan 1009 11 Algeria 1,568

12 France 1,824 12 Netherlands 944 12 Qatar 1,46813 Iran 1,694 13 Belgium 637 13 Canada 1,425

14 United Kingdom 1,602 14 Turkey 623 14 Kazakhstan 1,396

15 Italy 1,455 15 Thailand 592 15 Mexico 881

Top Oil Net Exporters (thousand barrels per day)

Top Oil Consumers(thousand barrels per day)

Top Oil Importers(thousand barrels per day)

http://tonto.eia.doe.gov/country/index.cfm

US/China: ~50% importedJapan/Germany: ~ 100% imported

ME566 Lecture 1- 7

http://cms.doe.gov/sites/prod/files/ReportOnTheFirstQTR.pdf ME566 Lecture 1- 8

Energy Generation, Transmission, and Distribution Losses

https://eed.llnl.gov/flow/images/LLNL_Energy_Chart300.jpg ME566 Lecture 1- 9

Carbon Emission at Unprecedented Pace

Source: Seventh International Carbon Dioxide Conference

ME566 Lecture 1- 10

Temperature Change and Climate Model

Steven Chu, Dec 2008ME566 Lecture 1- 11

Discussions 

• Of all the energy consumed in the US, 70% is self‐generated, and only 30% is imported (relatively low energy security risk compared to other countries)

• US imports ~50% of the petroleum it consumes, which is about 85% of its overall energy import.  Automobiles are 96% dependent on petroleum—the Achilles‘ heel.  

• Carbon emission is another significant issue.

• The two major energy sub‐systems are

– Electrical grid (efficiency ~32%)

– Ground transportation (low ICE efficiency ~20‐30%)

ME566 Lecture 1- 12

Connecting the Two Energy Sectors

• The effort to improve the efficiency of ground vehicles has to, and will continue.

• A solution that can simultaneously address the issue of low efficiency/high carbon emission of stationary power systems may be a win/win proposal.

ME566 Lecture 1- 13

Why Alternative Power‐train?

• Energy and environment

– Energy diversity

– Energy security 

– Possibly renewable

– Potentially lower emission 

– Potentially reduced carbon footprint

• Main challenge—cost competitiveness

ME566 Lecture 1- 14

Short‐Term Fuel Economy Target of USOn May 19, 2009, President Obama announced that EPA and NHTSA will work together to create one National Program specifying both greenhouse gas emissions and CAFÉ standards.Table 1 - Projected Fleet-Wide Emissions Compliance Levels under the Footprint-Based CO2 Standards (g/mi) and Corresponding Fuel Economy (mpg)

2012 2013 2014 2015 2016

Passenger Cars (g/mi)

263 256 247 236 225

Light Trucks (g/mi)

346 337 326 312 298

Combined Cars & Trucks (g/mi)

295 286 276 263 250

Passenger Cars (mpg)

33.8 34.7 36.0 37.7 39.5

Light Trucks (mpg)

25.7 26.4 27.3 28.5 29.8

Combined Cars & Trucks (mpg)

30.1 31.1 32.2 33.8 35.5

http://www.epa.gov/otaq/climate/regulations/420f10014.htmME566 Lecture 1- 15

Short‐Term Fuel Economy Target of US

http://www.epa.gov/oms/climate/regulations/420f10014.htm

The new rule is measured in CO2 emission per mile, as part of the national greenhouse gas (GHG) emissions standards under the Clean Air Act

Phase-in period: 2012 to 2016, footprint dependent

16ME566 Lecture 1-

Future Fuel Economy Requirement (07/29/2011)

• For years 2017‐2025.

• The 2025 target is 163 g CO2 /mi which is equivalent to 54.5 mi/gal for cars/trucks combined. Approximately reduction of 5% per year in CO2 output per mile

• Is this target achievable?

– Volt: 95/90 mpg, Leaf: 106/92 mpg.

http://www.huffingtonpost.com/2011/06/27/obama-fuel-economy-standards-mpg_n_885491.html17ME566 Lecture 1-

Is the New Standard Achievable? 

• The consensus is yes, but people do not agree on the cost

• What are the key technologies?

– Incremental fuel saving technologies

– Weight reduction

– Hybrid technologies

18ME566 Lecture 1-

Fuel Economy Improved by 16.9% in 5 years

ME566 Lecture 1- 19

Is the New Standard Achievable?  (Historical data)

EPA, “Light-Duty Automotive Technology and Fuel Economy Trends: 1975 Through 2012”

+0.65%/year

ME566 Lecture 1- 20

+3%/year

Fuel Usage is Almost Proportional to Weight 

EPA, “Light-Duty Automotive Technology and Fuel Economy Trends: 1975 Through 2012”ME566 Lecture 1- 21

Upcoming EU CO2 Rule• By 2012, 65% of new cars must achieve the target of 130g/km, and by 2015, 

100% of cars must satisfy this target.

• By 2020, the carbon emission level is planned to be reduced to 95g/km.

http://www.acea.be/images/uploads/files/20100311_CO2_in_2009.pdf ME566 Lecture 1- 22

Chris Cowland, 2012 Powertrain Strategies ME566 Lecture 1- 23

Improvement Just By Technology?

• Manufacturers will also use “other credits”

– pay penalties rather than achieving CAFE levels, 

– use Flexible Fuel Vehicle (FFV) credits, 

– count electric vehicles for compliance, 

– operation of PHEVs for compliance prior to MY 2020,

– transfer and carry‐forward credits, 

– air‐conditioning improvement credits 

– off‐cycle technology credits

http://www.nhtsa.gov/staticfiles/rulemaking/pdf/cafe/2017-25_CAFE_Final_Rule.pdf

ME566 Lecture 1- 24

UMTRI-2013-35.pdf

Othercredits

ME566 Lecture 1- 25

Alternative Power‐train for Transportation

Fuel-CellHydrogen

ShiftReaction

Plug-In Hybrid

Electric VehicleElectricity

Heat

Renewables(Solar, Wind, Hydro)

Nuclear

EnergyCarrier

PropulsionSystemConversion

EnergyResource

ICE Hybrid

Conventional ICELiquid

Fuels

Petroleum FuelsOil(Conventional)

Oil(Non-Conventional) Synthetic Fuels (XTL)

SyngasCO, H2

FischerTropsch

Coal

Natural Gas

1st and 2nd Generation Biofuels

Biomass

Dep

end

ency

on

Bat

tery

Tec

hn

olo

gy

Ele

ctri

fica

tio

n

Some natural

gas

ME566 Lecture 1- 26

Possible Paradigm Shift

Naro

BMW Clever

Nano

Toyota IQ Smart Fortwo

LEV

GEM Focus

i-MiEV

Fit

Leaf

ME566 Lecture 1- 27

Outline

• Needs for alternative powertrains

– Energy

– Environment

• About this course– Objectives– Course content– Grading policy– HW, Exams, Final project

• Basics of improving vehicle efficiency and reducing environmental impacts

ME566 Lecture 1- 28

Objective of This Course

• To cover the modeling, analysis and control of electrified vehicles, with focus on hybrid electric vehicles. Introduce the state‐of‐the‐art development in energy conversion and storage options, modeling, analysis, system integration and basic principles of vehicle integration and controls.  Upon completion of this course, students should be able to follow the literature on these subjects and perform modeling, design, analysis and development work in this field.

ME566 Lecture 1- 29

• There is no textbook—course pack provided as we go.

• Key reference papers will also be posted on the Ctoolssite

• New element this term: a hybrid powertrain laboratory (will offer 5 weekly labs, with homework problems assigned based on lab test results)

Course Material

ME566 Lecture 1- 30

Major Course Content

• Fundamental of combustion and advanced IC engine concepts; alternative fuels (less compared to previous years)

• Energy conversion and storage devices

• Modeling and control of Hybrid power‐trains (vehicles)

• Plug‐in hybrids, Hardware‐in‐the‐Loop integration

ME566 Lecture 1- 31

ME566 Lecture 1- 32

Lec.  Date  Lecture contents 1   1/8  Introduction, motivation 2   1/13  Introduction of electrified powertrain concepts. Final project ideas 3   1/15  Introduction of hybrid vehicles, current technologies   1/20  MLK day, no lecture 4  1/22  MATLAB‐SIMULINK review 5   1/27  MATLAB‐SIMULINK review 6   1/29  Modeling of power split devices for hybrid vehicles 7   2/3  Modeling of power split devices for hybrid vehicles 8   2/5  Power split systems – two mode hybrids   9   2/10  Power split systems – two mode hybrids   10   2/12  APUs  for  hybrid  electric  vehicles  –  IC  engine  fundamentals,  challenges  and 

opportunities (guest lecturer: Jason Martz) 11   2/17  Vehicle control hierarchy and power management   12   2/19  Vehicle control hierarchy and power management 13   2/24  Hydraulic hybrids (guest lecturer: Simon Baseley) 14   2/26  Hydraulic hybrids (guest lecturer: Simon Baseley) 15   3/10  Midterm 16   3/12  Modeling and analysis of power split hybrid power‐trains 17   3/17  Modeling and analysis of power split hybrid power‐trains 18   3/19  Control of power split hybrid vehicles 19   3/24  Control of power split hybrid vehicles 20   3/26  Modeling and control of batteries 21   3/31  Modeling and control of batteries 22   4/2  Vehicle  Controls  Fundamentals  for  Power  Split  Hybrid  (guest  lecturer: Ming  Kuang, 

Ford) 23   4/7  Major design issues and consideration of Hybrids  24   4/9  Emission issues, environmental impact of hybrids 25   4/14  Fuel economy test of PHEV 26   4/16  Grid integration 27   4/21  Final Project Presentation 

CTool Course Web Site

• https://ctools.umich.edu/portal

ME566 Lecture 1- 33

Office Hours• Date and time: see slide 1

• A microphone is strongly recommended for WebEx discussions

ME566 Lecture 1- 34

Laboratory• Tu and Wed 5:00‐6:00pm (weeks 3, 4, 6, 7, 8 and 10) in 1070AL

• Optional but highly encouraged

ME566 Lecture 1- 35

Grading Policy

• Grading: Homeworks 40%

Midterm 15%

Final Project 45%

ME566 Lecture 1- 36

Grading Policy (cont.)

• Project: A team project report is due on April 25 (Friday) 

by 9pm.  It can be on any topic approved by either of the lecturers (and must have a major alternative powertrainelement).  

• Homework: 4‐6 HW assignments. Due at the end ofclass on the due date. Homework will be accepted upto 48 hours late with a 20% penalty for each 24 hours.Standard Michigan Honor Code applies. Regraderequests within a week after paper is returned

• Exams: March 10 (Monday)

Regrade request within 3 days of returned exam papers in writing

ME566 Lecture 1- 37

Final Project1. Form a project team2‐4 members with ‐ Common hours for group meetings.  ‐ Accommodating travel needs (interview, vacation, conference)‐ Complementary skills (programming, modeling, controls)‐ Same level of commitment ‐ Shared interest on the project topic.

2. Project proposal (due with HW2)2 pages containing‐ Course number and title‐ Project title‐ List of team members (Names & E‐mails)‐ Description of the project scope, approach, tasks and deliverables, ‐ Time table in weeks‐ References

ME566 Lecture 1- 38

Final Project (cont.)3.  Interim Progress Report (due with a HW)

‐ 5 pages maximum containing

Summary of progress, challenges and accomplishments

Illustration of preliminary results

Revised timeline for completion of remaining tasks

4. Final Project Report

Paper report <= 30 pages (including text, figures and equations, not including references, appendices)—graded

You may be asked to conduct a WebEx Presentation or send in a Voice‐over‐PowerPoint presentation (length for each presentation ~ 15 minutes plus 5 minutes for questions if live)

Electronic report including electronic version of the printed report, the MATLAB/SIMULINK programs and software documentation (if any) are due together with the paper report— to be archived, tested if necessary.  (email attachment)

ME566 Lecture 1- 39

Factors for Successful Projects

• Clear goal and rationale

• Treat Project as an excuse to talk with other resources (professors, others at GM), to study a problem you have always wanted to study, to implement something that makes you proud…

• A doable schedule

• Modeling, analysis and control

ME566 Lecture 1- 40

Example Final Project Topics• Optimal choice of the engine for a Plug‐in Hybrid • Electronically‐Controlled Continuously Variable 

Transmission for:– Hybrid propulsion systems– Coupling additional devices to the engine

• Road coupled hybrid• Hydraulic Hybrid Power‐Split Vehicle • Modeling and Control of an Air Hybrid• Life Cycle Analysis of a Carbon‐Neutral Vehicle • Variable displacement turbocharged engine coupled to a 

power‐split hybrid driveline• Modeling and Control of Clean Diesel Engine‐

Aftertreatment System • Optimal Control and Design of a Fuel Cell Ultracapacitor

Battery Hybrid Vehicle• Hybrid concept for  a TAXI cab application 

Assigned reading: SAE 2011-01-0888 ME566 Lecture 1- 41

MATLAB/SIMULINK

ME566 Lecture 1- 42

http://ctms.engin.umich.edu/CTMS

Outline

• Needs for alternative powertrains– Energy

– Environment

• About this course– Objectives– Course content– Grading policy– HW, Exams, Final project

• Basics of improving vehicle efficiency and reducing environmental impacts

ME566 Lecture 1- 43

Standby/Idle/Accessories

13%

Engine Losses66% Driveline Losses

6%

Aero6%

Rolling5%

Braking4%

100% 21%D/L

15%

Regenerative braking

Auxiliary electrification

Waste heat recovery

Hybrid powertrain

Hybrid powertrain

Hybrid powertrain

Hybrid powertrain

Biofuel

CO2After treatment

ME566 Lecture 1- 44

Achieving Aggressive Fuel Economy Targets –Mass vs. Fuel Converter Efficiency Tradeoff

0

10

20

30

40

40 50 60

MA

SS

RE

DU

CT

ION

(%

)

POWER SOURCE THERMAL EFFICIENCY (%)

CI Engine Fuel Cell

Source: USCAR

To achieve 80mpg

ME566 Lecture 1- 45

Supercharge & Downsize 7%

Low Friction Lubricants 1-5%

4 valve vs. 2 valve OHC 5%

Variable Compression Ratio 6%

New Technologies Offering Further Fuel Economy Improvements in Gasoline Engines

Direct Injection Gasoline Engine 15-20%

Variable Valve Timing 3-10%

ME566 Lecture 1- 46