ELECTRICVEHICLES– MODELLINGAND SIMULATIONS  EditedbySerefSoylu              Electric Vehicles – Modelling and Simulations Edited by Seref Soylu Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access articles distributed under the Creative Commons Non Commercial Share Alike Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited. After this work has been published by InTech, authors have the right to republish it, in whole or part, in any publication of which they are the author, and to make other personal use of the work. Any republication, referencing or personal use of the work must explicitly identify the original source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. The publisher assumes no responsibility for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained in the book. Publishing Process Manager Ivana Lorkovic Technical Editor Teodora Smiljanic Cover Designer Jan Hyrat Image Copyright AlexRoz, 2010. Used under license from Shutterstock.com First published August, 2011 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechweb.org Electric Vehicles – Modelling and Simulations, Edited by Seref Soylu p. cm. 978-953-307-477-1 free online editions of InTech Books and Journals can be found at www.intechopen.com   Contents  Preface IX Chapter 1 Electrical Vehicle Design and Modeling 1 Erik Schaltz Chapter 2 Modeling and Simulation of High Performance Electrical Vehicle Powertrains in VHDL-AMS 25 K. Jaber, A. Fakhfakh and R. Neji Chapter 3 Control of Hybrid Electrical Vehicles 41 Gheorghe Livinţ, Vasile Horga, Marcel Răţoi and Mihai Albu Chapter 4 Vehicle Dynamic Control of 4 In-Wheel-Motor Drived Electric Vehicle 67 Lu Xiong and Zhuoping Yu Chapter 5 A Robust Traction Control for Electric Vehicles Without Chassis Velocity 107 Jia-Sheng Hu, Dejun Yin and Feng-Rung Hu Chapter 6 Vehicle Stability Enhancement Control for Electric Vehicle Using Behaviour Model Control 127 Kada Hartani and Yahia Miloud Chapter 7 FPGA Based Powertrain Control for Electric Vehicles 159 Ricardo de Castro, Rui Esteves Araújo and Diamantino Freitas Chapter 8 Global Design and Optimization of a Permanent Magnet Synchronous Machine Used for Light Electric Vehicle 177 Daniel Fodorean Chapter 9 Efficient Sensorless PMSM Drive for Electric Vehicle Traction Systems 199 Driss Yousfi, Abdelhadi Elbacha and Abdellah Ait Ouahman VI Contents Chapter 10 Hybrid Switched Reluctance Motor and Drives Applied on a Hybrid Electric Car 215 Qianfan Zhang, Xiaofei Liu, Shumei Cui, Shuai Dong and Yifan Yu Chapter 11 Mathematical Modelling and Simulation of a PWM Inverter Controlled Brushless Motor Drive System from Physical Principles for Electric Vehicle Propulsion Applications 233 Richard A. Guinee Chapter 12 Multiobjective Optimal Design of an Inverter Fed Axial Flux Permanent Magnet In-Wheel Motor for Electric Vehicles 287 Christophe Versèle, Olivier Deblecker and Jacques Lobry Chapter 13 DC/DC Converters for Electric Vehicles 309 Monzer Al Sakka, Joeri Van Mierlo and Hamid Gualous Chapter 14 A Comparative Thermal Study of Two Permanent Magnets Motors Structures with Interior and Exterior Rotor 333 Naourez Ben Hadj, Jalila Kaouthar Kammoun, Mohamed Amine Fakhfakh, Mohamed Chaieb and Rafik Neji Chapter 15 Minimization of the Copper Losses in Electrical Vehicle Using Doubly Fed Induction Motor Vector Controlled 347 Saïd Drid Chapter 16 Predictive Intelligent Battery Management System to Enhance the Performance of Electric Vehicle 365 Mohamad Abdul-Hak, Nizar Al-Holou and Utayba Mohammad Chapter 17 Design and Analysis of Multi-Node CAN Bus for Diesel Hybrid Electric Vehicle 385 XiaoJian Mao, Jun hua Song, Junxi Wang, Hang bo Tang and Zhuo bin Chapter 18 Sugeno Inference Perturbation Analysis for Electric Aerial Vehicles 397 John T. Economou and Kevin Knowles Chapter 19 Extended Simulation of an Embedded Brushless Motor Drive (BLMD) System for Adjustable Speed Control Inclusive of a Novel Impedance Angle Compensation Technique for Improved Torque Control in Electric Vehicle Propulsion Systems 417 Richard A. Guinee   Preface  Electric vehicles are becoming promising alternatives to be remedy for urban air  pollution, green house gases and depletion of the finite fossil fuel resources (the challenging triad) as they use centrally generated electricity as a power source. It is well known that power generation at centralized pl ants are much more efficient and their emissions can be controlled much easier than those emitted from internal combustionengines thatscatteredallovertheworld.Additionally,anelectricvehicle can convert the vehicle’s kinetic energy to electrical energy and store it during the brakingandcoasting. Allthebenefitsofelectricalvehiclesarestarting tojustify,acenturylater,attentionof industry, academia and policy makers again as promising alternatives  for urban transport.Nowadays,industryandacademiaarestrivingtoovercome thechallenging barriersthatblockwidespreaduseofelectricvehicles.Lifetime,energydensity,power density, weight and cost of battery packs  are major barriers to overcome. However,  modeling and optimization of other components of electric vehicles are also as important as theyhave strong impacts on theefficiency, drivability and safety of the  vehicles.Inthissensethereisgrowingdemandforknowledgetomodelandoptimize theelectricalvehicles. In this book, modeli ng  and simulation of electric vehicl es  and their components have been emphasized chapter by chapter with valuable contribution of many researchers who work on both technical and regulatory sides of the field. Mathematical models  for electrical vehicles and their components were introduced and merged together to make this book a guide for industry, academia and policy  makers. To be effective chapters of the book were de signed in a logical order.It started with the examination ofdynamicmodels andsimulation results for electricalvehicles and tractionsystems.Then, modelsforalternativeelectricmotorsanddrivesystemswere  presented. After that, models for  power electronic components and various control systems were examined. Finally, to establish the required knowledge as a whole, an intelligentenergymanagementsystemwasintroduced. X Preface Astheeditorofthisbook,Iwouldliketoexpressmygratitudetothechapterauthors for submitting such valuable works that were already published or presented  in prestigious journals andconferences. I  hopeyou will getmaximum benefitfromthis booktotaketheurbantransportsystemtoa sustainablelevel.  SerefSoylu,PhD SakaryaUniversity,DepartmentofEnvironmentalEngineering,Sakarya, Turkey  [...]... DoDBat where a10 a4 b10 b4 c10 c4 = = = = = = -634.0, - 416 .4, -8848, 784, 2056, 578, a9 a3 b9 b3 c9 c3 = = = = = = 2942 .1, 60.5, 40727, -25, - 917 6, 25, a8 a2 b8 b2 c8 c2 = = = = = = -5790.6, -4.8, -79586, 55, 17 147, 3, a7 a1 b7 b1 c7 c1 = = = = = = 6297.4, 0.2, 86 018 , 0, -17 330, 0, a6 a0 b6 b0 c6 c0 = = = = = = + c0 (25) (26) - 413 2 .1, a5 = 16 77.7 0.0 -5 613 5, b5 = -5565 4 10 168, c5 = -3 415 0 2.7.2 Capacity... shoot-through The average power losses of one switch pQ,Inv and diode pD,Inv in Fig 3 during one fundamental period are (Casanellas, 19 94): 1 + 8 1 − pD,Inv = 8 ˆ 2Vp , mi = VBat pQ,Inv = mi 3π mi 3π ˆ2 RQ,Inv Ip + ˆ2 RD,Inv Ip + m 1 ˆ + i cos(φEM ) VQ,th,Inv Ip 2π 8 m 1 ˆ − i cos(φEM ) VD,th,Inv Ip 2π 8 (17 ) (18 ) (19 ) 6 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 6 Fig 3 Circuit diagram... is selected The electric machine is divided into an electric part and mechanic part The electric part of the PMSM is modeled in the DQ-frame, i.e., vd = R s i d + L d did − ω e Lq iq dt (10 ) vq = R s i q + L q diq + ω e Ld id + ωe λ pm dt (11 ) pEM = 3 v i + vq i q , 2 dd (12 ) 5 5 Electrical Vehicle Modeling and Modeling Electrical Vehicle Design and Design where vd [V] D-axis voltage vq [V] Q-axis... the rectifier Resistance of switch and diode Threshold voltage of switch and diode (34) (35) (36) (37) (38) 11 11 Electrical Vehicle Modeling and Modeling Electrical Vehicle Design and Design 2 .10 Simulation model The models of each component of the power system in the electric vehicle have now been explained When combining all the sub models a model of the battery electric vehicle is obtained In Fig... Workspace1 [t d_v_car_dt] From Workspace [t v_car] w_s [rad/s] w_s [rad/s] v_vehicle [km/h] 12 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH Fig 8 Matlab/Simulink implementation of the battery electric vehicle Electrical Vehicle Modeling and Modeling Electrical Vehicle Design and Design 13 13 The three sub-processes in the “Simulation routine”-process are executed three times in... + a1 DoDBat + a0 (24) 8 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 8 10 9 8 7 6 vBat,int,cell = b10 DoDBat + b9 DoDBat + b8 DoDBat + b7 DoDBat + b6 DoDBat 5 4 3 2 + b5 DoDBat + b4 DoDBat + b3 DoDBat + b2 DoDBat + b1 DoDBat + b0 10 9 8 7 6 RBat,cell,cha = c10 DoDBat + c9 DoDBat + c8 DoDBat + c7 DoDBat + c6 DoDBat 5 4 3 2 + c5 DoDBat + c4 DoDBat + c3 DoDBat + c2 DoDBat + c1 DoDBat... continuous torque τs,cont, peak torque τs,max , and the torque contour τs,limit are also shown in the figure 3 .1. 3 Transmission The maximum speed of the electric machine is ns,max = 8000 rpm The required gear ratio of the differential is therefore G= ns,max 2π rw Vcar,max 60 1. 1 ( 61) 17 17 Electrical Vehicle Modeling and Modeling Electrical Vehicle Design and Design ns,corner ns,nom ns,max 95 % ≥ ηEM... modeling 2 .1 Architecture Many different architectures of an electric vehicle exist (Chan et al., 2 010 ) as there are many possibilities, e.g., 1 to 4 electric machines, DC or AC machines, gearbox/no gearbox, high or 2 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 2 low battery voltage, one or three phase charging, etc However, in this chapter the architecture in Fig 1 is chosen... take place at private homes, where the maximum RMS-current is IGrid,max = 16 A The maximum grid power and rectifier current are therefore √ 3 3 = 10 .6 kW (62) V I PGrid,max = π LL Grid,max 3 = 19 .6 A (63) IRF,max = I 2 Grid,max 18 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 18 It is assumed that the rectifier has an efficiency of ηRF,nom = 0.98 at maximum grid power The switch-on... 2 RBC iRF + Vth,BC iRF , (33) 10 Electric Vehicles – Modelling and Simulations Will-be-set-by-IN-TECH 10 where PRF PBC PLoss,BC VRF Vth,BC RBC iRF iBC [W] [W] [W] [V ] [V ] [Ω] [ A] [ A] Input power of boost converter Output power of boost converter Power loss of boost converter Input voltage of boost converter Threshold voltage of switch and diode Resistance of switch and diode Input current of boost . 86 018 , b 6 = -5 613 5, b 5 = -5565 b 4 = 784, b 3 = -25, b 2 = 55, b 1 =0, b 0 =4 c 10 = 2056, c 9 = - 917 6, c 8 = 17 147, c 7 = -17 330, c 6 = 10 168, c 5 = -3 415 c 4 = 578, c 3 = 25, c 2 =3, c 1 =0,. L d di d dt −ω e L q i q (10 ) v q = R s i q + L q di q dt + ω e L d i d + ω e λ pm (11 ) p EM = 3 2  v d i d + v q i q  , (12 ) 4 Electric Vehicles – Modelling and Simulations Electrical Vehicle Design and Modeling. ELECTRIC VEHICLES – MODELLING AND SIMULATIONS  EditedbySerefSoylu              Electric Vehicles – Modelling and Simulations Edited by Seref