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Abstract An overview of hybrid electric vehicle technology is internal combustion engine with that produced by electric
presented. This encapsulates factors that necessitate the energy stored in batteries (drive train hybridization).The
development of hybrid electric vehicles, classifications of hybrid latter which is also known as electric internal combustion
electric vehicles based on the arrangement of the internal
combustion engine and the electric motor for traction. The types
hybrid.
of batteries required and the use of power electronic converters In addition to vehicles that use two or more different
for effective power processing and utilization in hybrid electric devices for creating propulsion power, some vehicles also use
vehicle drive is covered. Also the strengths and weaknesses of distinct energy input types or fuels. For example, flexible
various types of specialized electrical motors for traction drive in fuel vehicles can use a mixture of gasoline and natural gas.
hybrid electric vehicles are treated. Some vehicles too have been modified to use another fuel
Keywords- Series Hybrid Electric Vehicles, Parallel Hybrid source if available. For instance some cars that run on propane
Electric Vehicles, Fossil Fuel, Fuel Cell and diesels are modified to run on waste vegetable oil.
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providing a higher voltage than the normal automotive 12V. fuel with the electric power supplemented by diesel or
Accessories such as power steering and air conditioning are hydrogen [8].
powered by electric motors, so that they continue to function
when the internal combustion engine is stopped. This offers an B. In-Wheel Motor Hybrid Electric Vehicles
additional efficiency gains by modulating electrical power The newest innovation in hybrid electric vehicle is the in
delivered to these systems rather than having them run directly wheel motor hybrid electric vehicles. In this hybrid category,
from the engine at a speed which separate small electric motors (in wheel motor) is installed at
each wheel. The in wheel motors make it possible to regulate
V. DEGREE OF HYBRIDIZATION drive torque and braking force independently at each wheel
without the need for any transmission, drive shaft, or other
A. Full Hybrid Electric Vehicles
complex mechanical components [9]. Most conventional
A full hybrid vehicle is the one that can run on just the electrical machines (such as ac excited or brushed dc motors)
engine, just the batteries or a combination of both. The Prius are not suitable for application in wheel motor drive because
and Escape Hybrids are examples of this because both cars can of their poor torque density and overload capability [10]. As
be moved forward on battery alone. A large, high capacity such electric motors employed for this type of drive solution
battery pack is needed for battery only operation. These must have the following features:
vehicles have a split power path that allows more flexibility in --High torque at low speed
the drive train. To balance the forces from each portion, the --Low weight especially where the motor has to be fitted in
vehicles use a differential style linkage between the engine the rim in order to maintain road holding quality
and the motor connected to the head end of the transmission. --High torque per kilogram and high torque per motor
B. Assist Hybrid Electric Vehicles volume [11]
--Since the drive train in automotive applications operate
This type of hybrids use the engine for primary power, with
under constantly varying torques and speed, the selection of
a torque boosting electric motor connected to the
electric motor for this application should be based on the
conventional power train. The electric motor is essentially a
overall cycle efficiency under varying drive conditions.
very large motor which operates not only when the engine
needs to be turned over, but also when the driver steps throttle
pedal and require extra power. Assist hybrids differ VII. ELECTRICAL MACHINES FOR HYBRID
fundamentally from full hybrids in that they cannot run on ELECTRIC VEHICLES
electric power alone. However since the amount of power
needed is very small, the size of the battery system is reduced. The motors and alternators used in hybrid electric vehicles
C. Mild Hybrid Electric Vehicles are in principle not different from those used for other
applications. However, in some instance like in parallel hybrid
These are conventional vehicles with oversized starter
there are some modifications in their designs. In some
motors; allowing the engine to be turned off whenever the car
applications, the electric motors are designed to be mounted
is coasting, braking or stopped, yet restart quickly and cleanly.
directly in line with the engine crankcase. Such machines will
Accessories can continue to run on electrical power while the in most cases be BLDC motor. They will be multiple pole
engine is off, and the motor is used for regenerative braking to machines, since their location means their dimensions need to
recapture energy. The motor is used to run up the engine to be short in length and wide in diameter. They are usually
operating speed before injecting any fuel. Many people do not turned inside out with the stationary coils being on the inside
consider these to be hybrids at all, and they do not achieve the and the rotor being a band of magnets moving outside the coil.
fuel economy of full hybrid models. The larger diameter permits this construction, which has the
advantage that the centrifugal force on the magnets tends to
make them stay in place, rather than throw them out of their
VI. OTHER TYPES OF HYBRID ELECTRIC VEHICLES mounting. This type of inside out motor is used in motors that
are integral with wheels (in wheel motor). A major
A. Plug-In Hybrid Electric Vehicle (PHEV)
advantage of electric motor in hybrid electric drive is that
This is a full hybrid, able to run in electric only mode with torque generation is very quick and accurate [5]. Brief
larger batteries and the ability to recharge from the electric descriptions of some common types of electric motors used in
power grid. They are also called gas optional or griddable hybrid vehicle drives are given below:
hybrids. They run partly on electricity generated at local
A. Brushed Direct Current Motor
power plants, which can lessen the nations reliance on oil
while offering utilities a robust market for their off peak Direct Current (DC) motors normally have windings in the
power [5]. Their main advantage is that they can be gasoline rotor and permanent magnets in the stator. The permanent
independent for daily commuting. It also has the extended magnets are sometimes replaced by windings in the stator.
range of electric hybrid for long trips. They can also be multi Brushed DC Motors are very good electric motors in hybrid
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electric vehicle for motive propulsion. It has its maximum
torque at low speed and the torque steadily falls as the speed
increases. This can be seen from the torque equation for a
brushed DC Motor in equation (1). This gives it an edge over
ICE that has its maximum torque at somewhat high
speed.
K m E s ( K m ) 2 (1)
T =
Ra Ra
where
T = Electromagnetic torque
= total flux passing through the coil
K m = motor constant
E s = armature voltage.
R a = armature resistance
= rotor (armature) angular velocity
The suitability of brushed DC motors is however negated Fig. 1. Efficiency contour maps for a typical permanent
due to the excessive heat generated as a result of losses in the magnet brushed DC motor [3].
rotor of the motor. Equation (2) shows the losses in a dc
It can be seen in each efficiency contour map in figure 1 that
electric motor.
the high efficiency is recorded at low speed and high torque.
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number of coils. Also, when using a core of high magnetic VIII. POWER ELECTRONICS CONVERTERS (DRIVES)
permeability the torque that can be produced within a given
volume exceeds that produced in induction motors and BLDC A. Inverter
motors. Combining this with possibility of higher speed means An inverter is a device that converts a direct current (DC)
that a higher power density is possible. from battery or a similar source into an alternating current
(AC) which can be used for driving AC electrical motors. It
D. Synchronous Permanent Magnet Outer Rotor (In-Wheel)
consists of a power module, DC link capacitors, sensors, a
Motor
filter and a control system. The power module is made of high
Special permanent magnet synchronous motor with an outer power fast acting semiconductor devices such as bipolar
rotor has been designed to achieve the high torque requirement junction transistor (BJT), metal oxide semiconductor field
of the in wheel motor drive system. The constraint to use the effect transistor (MOSFET), insulated gate bipolar transistor
outer rotor type of this machine is to give the best fit to the (IGBT), silicon controlled rectifier (SCR) etc. Electric
wheel rim and for the purpose of simpler construction since machine is current intensive; therefore the switching devices
the outer rotor does not requires its own bearings as compared must have the high current capabilities [4].
to inner rotor type traction motor [4]. The permanent magnet
normally used is NdFeB because of its high energy density. B. Rectifier
The sinusoidal nature of the flux linkages in the air gap A rectifier does opposite of what an inverter does. It is a
makes it possible for the motor to be controllable by a device that converts an alternating current (AC) from the
sinusoidal supply voltage and by vector control method. The utility grid to a direct current (DC) for direct current
plot of torque versus rotor position of this type of machine applications such as direct current (DC) motor drives. It also
shows that the machine has high torque at low speed. has all the components like the inverter. The switching devices
The draw back of this type of machine for in wheel motor are just like the ones used in inverter.
drive in vehicle application is the high iron losses of the
C. Two-Quardrant Converters.
permanent magnet at high speed which make it unsuitable for
rural driving. Other losses in this drive include converter A two quadrant converter is a converter that can act both
losses, copper losses and mechanical losses [13]. as a rectifier and an inverter. It makes the flow of current and
power in bidirectional form possible. This type of converter
E. Axial-Flux Ironless Permanent Magnet (In-Wheel) Motor becomes necessary in hybrid electric vehicle drive because of
This is a slotless, ironless and outer rotor axial flux the need to recover braking power through regeneration. Other
permanent magnet machine. The absence of stator core types of converters that may find application in hybrid electric
reduces the weight of the motor thereby reducing the un- vehicle drive includes PWM DC/DC Buck, Boost, Buck-Boost
sprung mass to the wheel. Further reasons behind the choice of and Cuk converter.
this type of permanent machine configuration are as follows:
Axial Flux was chosen because [10]:
Of inadequate axial length for end windings in a IX. ELECTRIC VEHICLE TRACTION MODEING
radial field air gap type. Issues relating to performance and range in electric vehicle
Double magnet rotors could fixed on the wheel lateral is very important. The first step in vehicle performance
sides modeling is to produce an equation for the tractive effort. This
The stator windings could be mounted centrally on is the force propelling the vehicle forward, transmitted to the
the axle ground through drive wheels. For a vehicle of mass m,
Slotless winding was chosen because: proceeding at a velocity v and moving up a slope . The force
The efficiency with toothed structures is less
propelling the vehicle forward, the tractive effort has to
A high field is achievable with new permanent
accomplish the following:
magnet materials and special magnet arrangement.
There is a reduced copper loss due to availability of
more space Overcome the rolling resistance
Stranded Litz wire was used in the winding and as Overcome the aerodynamic drag
such there is less eddy current loss. Provide the force needed to overcome the component
Losses incurred due to this type of design are: of the vehicles weight acting down the slope.
Copper loss Accelerate the vehicle, if the velocity is not constant.
Eddy current loss in the winding A. Rolling Resistance Force
Windage loss
Bearing Loss The rolling resistance is primarily due to the friction of the
vehicle on the road. Friction resistance in bearing and gearing
system also play their part. The rolling resistance does not
depend on vehicle speed. It is rather proportional to the
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vehicle weight. The equation is: a
Frr = rr mg (4)
= G rad .s 2 (11)
r
rr is the coefficient of rolling resistance. The main factors The torque required for the angular acceleration is:
controlling rr are the type of tyre and the tyre pressure. a
T = IG (12)
r
Typical range of rr is 0.005 0.015. I is the moment of inertia of the rotor of the motor.
B. Aerodynamic Drag The force at the wheel needed to provide the angular
acceleration is
This force is due to the friction of the vehicle body moving
through the air. It is a function of the frontal area, shape, G a G2
Fa = IG = I a, (13)
protrusions such as side mirrors, ducts and air passages etc. gr r gr2
The equation is:
1 g is the gear system efficiency.
Fad = AC d 2 (5)
Therefore the total tractive effort is the summation of all the
2
Where is the density of the air, A is the frontal area and is forces as follows:
Fte = Frr + Fad + Fhc + Fla + Fa (14)
the velocity. Cd is a constant called the drag co-efficient. Cd
can be reduced by good vehicle design. A typical value for a Fla and Fa are negative when the vehicle is slowing down
saloon car is 0.3. Vehicles such as buses and motorcycles while Fkc is negative when the vehicle is going downhill.
have Cd value of about 0.7. A reasonable value of air density However, for a vehicle on level ground, with air density, the
-3
should be 1.25kgm even though it varies with temperature, equation for the total tractive effort becomes:
altitude and humidity. G2
Fte = rr mg + 0.625 AC d 2 + ma + I a (15)
C. Hill Climbing Force gr2
This is the force required to drive the vehicle up a slope. It is
the component of the vehicle weight that acts along the slope.
X. BENEFITS OF HYBRID VEHICLES
This is given in equation (6)
There are large and growing reasons why hybrid vehicles are
the future of auto-industry worldwide. Among many
Fhc = mg sin( ) (6)
advantages that have given hybrid vehicle edge over its
D. Acceleration Force internal combustion engine counterpart are as follows:
The linear acceleration force is the force applied when the The internal combustion engine in a hybrid vehicle is
velocity of the vehicle is changing. This is given by Newtons much smaller, lighter and more efficient than the one
second law of motion as follows: in a conventional vehicle. This is because the engine
can be sized for slightly above average power
Fla = ma (7) demand rather than peak power demand.
A standard combustion engine is required to operate
The tractive effort at the tyre delivered by the power train is over a range of speed and power, yet its highest
expressed as Fte r , where r is the radius of the tyre. If G is the efficiency is in a narrow range of operation where as
in a hybrid vehicle, the engine operates within its
gear ratio of the system connecting the motor to the axle, and
range of highest efficiency.
T is the motor torque, then
The power curve of electric motors is better suited to
Fte r variable speeds and can provide substantially greater
T= (8)
G torque at low speeds compared with internal
Axle angular speed = combustion engines.
Braking in hybrid electric vehicle is controlled in part
T rad .s 1 (9) by the electric motor which can recapture part of the
r kinetic energy of the car to partially recharge the
Motor angular speed batteries. In a conventional vehicle, braking is done
by mechanical brakes and the kinetic energy of the
= G rad .s 1 (10) car is wasted as heat.
r Hybrid vehicles are much more energy efficient than
Motor angular acceleration traditional internal combustion engine vehicles
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because they generally provide greater fuel economy.
This statistic has a major implication for the reducing
gasoline consumption and vehicle air pollution
emissions worldwide.
There is reduced wear and tear on the gasoline
engine.
There is reduced wear on brakes from the
regenerative braking system use.
There is reduced noise emission resulting from
substantial use of electric engine at low speeds
leading to roadway noise reduction.
There is a reduced air pollution emission due to less
fuel consumption per mile thereby leading to
improved human health with regards to respiratory
and other illnesses.
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