25 th Iranian Conference on Electrical Engineering (ICEE2017)

Analysis and Simulation of Hybrid Electric Vehicles

for Sedan Vehicle
Araz Saleki Saman Rezazade Mahmudreza Changizian
Department of Electrical Department of Electrical Department of Electrical
Engineering Engineering Engineering
K.N.Toosi University of Technology Shahid Beheshti University K.N.Toosi University of Technology
Tehran, Iran Tehran, Iran Tehran, Iran
Araz.slk@email.kntu.ac.ir Sa.rezazade@mail.sbu.ac.ir M.changizian@email.kntu.ac.ir

Abstract- This paper presents a modeling and simulation of two
different vehicles topologies (parallel hybrid electric vehicle and
series hybrid electric vehicle) using the ADVISOR (ADvanced
VehIcle SimulatOR). An accurate analysis of the performance of
a hybrid electric vehicle, as well as of its consumption and
pollution level, requires a dynamic analysis of its behavior. Two
kinds of simulation tools for electric and hybrid electric vehicles
exist: steady state and dynamic tools. An accurate analysis of the
vehicle performance requires a dynamic model that includes many
components such as its electric motor, its batteries and its motor
controller. The central controller of this sedan consists of 1/0
Board, Adapter and Microcontroller of motor drive. In a first step,
the vehicle components are sized, using a power flow analysis, to
meet the requirements of energy and power of a typical "Sedan
vehicle". In a second step, simulation results are presented and
discussed to analysis complexity and performance.
Keywords-Hybrid Electric Vehicle, Advisor, Runna, Sedan
Vehicle, Control Strategy, Power Converter.
I. INTRODUCTION
Hybrid electric vehicles (HEVs), using an engine and one or
more electric machines, are widely regarded as the most
promising solution for clean vehicles in the short term to
midterm [1]. Hybrid electric vehicles are under development
today by various manufacturers. These vehicles are currently
marketed as one way to improve the efficiency of our
transportation system and to help reduce our dependence on and
consumption offoreign petroleum [2],[3],[4]. Recent efforts in
REV research are directed toward developing energy efficient
and cost-effective propulsion system. Among many different
hybrid modes, the two generally accepted classifications are
series and parallel. While the series configuration is efficient for
large energy demands, the parallel hybrid is more suitable
satisfying high road power demands [5],[6].
Advanced Vehicle Simulator (ADVISOR) was first
developed in November 1994 at the National Renewable Energy
Laboratory. It was designed as an analysis tool to assist the US
Department of Energy (DOE) in developing technologies for
hybrid electric vehicles (HEV) through the Hybrid Electric
Vehicle Propulsion System contracts with Ford, General
Motors, and DaimlerChrysler. Its primary role is to highlight the
system-level interactions of hybrid and electric vehicle
components and their impacts on the vehicle performance and
fuel economy [7].
ADVISOR was used environmental MATLAB / Simulink.
MATLAB provides an easy-to-use matrix-based programming
environment for performing calculations while Simulink can be
used to represent complex systems graphically using block
diagrams [7],[8]. The software of ADVISOR is a simulation tool
for electric and hybrid vehicles. It presents the ease of analysis,
flexibility, and also provides robust solutions for this it was very
used. It is primarily used for the quantification of fuel economy,
performance and emissions from vehicles [9].
There are three main windows with graphical interfaces
(GUI) that guide the user in the simulation process [10],[11].
The GUI enables the user assessing the impacts of vehicle
parameters and needs of the training cycle on vehicle
performance, emissions and fuel economy .The vehicle model is
represented in Simulink using the diagrams blocks and allows
defining the connections between components of the traction
chain. During the simulation, the model takes the input data from
the MATLAB workspace and outputs the results to the
workspace to be viewed in the results window. The user can
make his own vehicle through the entrance window ADVISOR
[10],[12].
To design automotive systems, design tools that automate
the mow-level details ofthe design process need to be developed
to allow duplication and management of similar levels of
complexity [13],[14]. Many numeric tools have been developed
to simulate and analysis hybrid electric powertrains. The vehicle
model can be steady-state, quasi-steady, or dynamic, depending
on the details level with which each component is modeled. For
ADVISOR the model is considered as a steady-state one,
whereas it is considered as a quasi-steady one for PSAT and as
dynamic for PSIM and virtual Test Bed (VTB) [7],[15]. Fast
computation is the main advantage of using a steady-state model
or quasi-steady one. But lack of accuracy in dynamic simulation
remains a disadvantage for those models. ADVISOR is the most
popular because it is available for free [16],[17].
ADVISOR evaluates the vehicle performance in a
backward-forward facing method. Its capacity to quickly
perform sensitivityand parametric studies for particular vehicles
is a unique and precious feature [18],[19]. This paper presents
models and simulations for electric and hybrid vehicles. A series
hybrid electric vehicle "SHEV" and a parallel-hybrid electric
vehicle "PREV" drive trains are developed using ADVISOR.
Simulation results are, then, presented and discussed for each

978-1-5090-5963-8/17/$31.00 ©2017 IEEE

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25 th Iranian Conference on Electrical Engineering (ICEE2017)

vehicle. In the end we discuss the choice for our vehicle

application "Sedan".
II. THE FEATURES OF THE RECREATIONAL
VElllCLE
Runna is the second of IKCO's 3rd Iranian-designed
passenger car based on Peugeot 206. As mentioned in TABLE
I. the weight of this sedan is 1259 kg. Its speed maximum in
engine mode is 189 kmIh but if this structure has been changed
consequently its speed will decrease and the final speed depend Figure 2. Structure of Parallel hybrid vehicle
on selected structure. In addition to the pollution has been
reduced rather than engine mode. Hybrid structure and electric The vehicle has been simulated by ADVISOR using the
structure need to have an electric motor must be an induction vehicle parameters listed in TABLE II .. In the ADVISOR
motor or PMSM, in these types of motors the induction motor is simulation setup window a user defmes the event over which the
selected. Nominal power of electric motor is selected based on vehicle is to be simulated. Some of the events are driving cycle,
structure of vehicle. The used energy storage system would be acceleration test and other special test procedures. Figure 4.
better be a Lithium-ion. The central controller of this sedan shows the simulated results of vehicle speed during the drive
consists of VO Board, Adapter and Microcontroller of motor cycle. Since drive cycle of city has been selected thus maximum
drive. The sedan vehicle under examination is shown Figure 1. speed can't exceed from 56 kmIh.
and its technical specifications listed in TABLE I.
TABLE n. SPECIFICATION OF PARALLEL HYBRID ELECTRIC VEHICLE

Parameter of vehicle Sedan

Electric motor average power
50kW
(Induction Motor)
Top speed 108km1h
Capacitance of Battery 31 Ah
Initial SOC 0.8
Minimum SOC 0.4
Vehicle Front Area 2m2
Figure I. Dimensions of Sedan Drive Cycle CYC WVUCITY

TABLE I. TECHNICAL SPECIFICATION OF SEDAN

CYC WVUCITY

Parameters Value 40 --------------~======~~

11

Overall length (mm) 4292

30 0~ 5

'"
Overall width (mm) 1684
Overall height (mm) 1453 ~ I
:;;-20 fll~ .11111/i I I -'-' -"~
{ 'I " I
~

Wheelbase (mm) 2445 o ~

~
Front track (mm) 1457 0;
10 -05
Rear track (mm) 1448
Weight (+ 2 Passengers) (kg) 1109 + 150 ~ JIJU II II II 111\ I b, I b \"'\ 1_1
500 1000 1500
ti m e (s ec )

III. PARALLEL HYBRID ELECTRIC VEHICLE Figure 3. Drive Cycle

DESIGN
40 I ,I
In a parallel hybrid vehicle, both the electric motor and the
combustion engine work together to supply power ofthe vehicle. 30
The parallel hybrid can also utilize the engine to charge the
battery packs during less intense power driving cycles, such as -g, 20
E
cruising at freeway speeds. Structure of parallel hybrid vehicle
10
is shown in Figure 2. That connection between electric and
mechanical part are seen. Energy storage connect to the motor
controller via power bus and electric acc loads then power of 500 1000 1500
electric motor and engine be combined in torque coupler. Figure 4, Speed of PHEV during the drive cycle

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25 th Iranian Conference on Electrical Engineering (ICEE2017)

0.2 For selection of battery in HEVs nominal voltage, current

00 0.15
range and power capacity are needed. Also in Advisor battery
life and weight of battery packs are considered.

l.
c
.~ 0.1
E Simulation of battery in Advisor needs to have battery
~ 0.05 parameters. Output characteristics of battery are shown in Figure
6. and Figure 7. SOC of battery decreases at initial time and it
o increases when vehicle is braking. As seen in Figure 6. SOC
.. 0 500 1000 1500
Figure 5. Emission ofPHEV Sedan varies between 0.61 and 0.65 and it's more efficient. Current of
battery depends on vehicle speed because increasing vehicle
In Figure 5. HC, CO, NOx and PM particles have been shown speed causes decreasing SOC and increasing battery current.
with red, green, blue and violet. It's important that pay attention When SOC is maximum, current of battery is negative. When
to CO showed one tenth of real value. It's shown that in steady current is positive, vehicle is using energy of battery and when
state these values are converged to zero and it's one of the current is negative, battery is charging.
benefits ofPHEV. 066 1 i 1

A. Parallel Electric Assist Control Strategy 'iii

1-- ess_socJist I
1:, 0.64
In advisor, parallel electric assist control strategy uses the u
o
electric motor as an auxiliary power source and battery life in
:00 ' 0.62
vehicle [22],[23]. In this strategy electric motor uses in ~

following 0.6L
I _ _ _ _ _ _ _....I...._ _ _ _ _ _ _....I...._ _ _ _ _ _ _...J
methods: o 500 1000 1500
• If the vehicle speed is less than the minimum speed, the Figure 6. State of Charge during Drive Cycle
electric motor supplies all the required torque of vehicle.
40 --------,-------,-;::::====:::::;l
I

• If the vehicle required torque is greater than the

i: 20
maximum engine torque, the electric motor supplies ~
t
auxiliary torque. ~
u
00
• The electric motor charges the batteries with ~ ·20
'

regenerative braking.
• When the combustion engine in vehicle speed and
torque requirements have bad efficiency, the
combustion engine is turned off and the electric motor
supplies torque requirement of vehicle.
• If SOC is low, the combustion engine must produce
extra torque.
Parallel electric assist control strategy in advisor is
determined with six variable values.
B. Battery
Energy source uses for supplying the electric power in
vehicles the most important power supplies for electric parts
such as traction drive and auxiliary converters are batteries. The
batteries play important role in HEVs and EVs. Modeling of
battery is very complex and difficult. Therefore, battery model
of Advisor has been used. Advisor consist of following model
batteries:
• Resistive - capacitive model
• Internal resistance model
• Fundamental lead acid model
• Neural network model
Each these models divided to other parts for example
Resistive - capacitive model consists ofLi, nimh, ultracapacitor.
40 ~
1 ------~-----~--------'
o 500 1000 1500
Figure 7. Battery current during Drive Cycle
C. Electric drive
Motor drive is one of the core components in HEV. In
allusion to different operating environment, such as flat road,
on the downhill, acceleration and deceleration, start-stop and so
on, the operating mode of motor is need to make a switch
among the circumstances of light load, heavy load or overload.
So the key issue of motor and its controller development is to
improve the comprehensive efficiency [18],[19],[20].
The basic performance requirements for HEV motor
drive system should have high-performance with low-loss, high
power density, high torque when in low speed, wide speed
adjust range, strong overload capacity, good reliability ,and so
on.
As seen in Figure 8. Output speed of electric motor is
following the reference speed of drive cycle. In practical central
controller is connected to motor drive with VO board and
determine reference torque and speed of electric motor.

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25 th Iranian Conference on Electrical Engineering (ICEE2017)

600 II------,-~--------,-_;::=========;l Control strategies in SHEV is divided into two parts:

• Series Thermostat Control Strategy.
~ 1 400
"0
a.
00
• Series Power Follower Control Strategy.
01 200
E Control strategy of series hybrid electric vehicles strategy in
advisor is determined with eleven variable values.
oI I V' B cJ!~!1 I! 1I II "' \ I I! I I\ I I

a 500 1000 1500 B. Battery

Figure 8. Output speed of electric motor
IV. SERIES HYBRID ELECTRIC VEHICLE
A series hybrid vehicle is a vehicle in which two electrical
power sources feed a single electrical power plant (electric
motor) that propels the vehicle.
The configuration that is most often used in Advisor is the
one shown in Figure 9. , the ICE is used to generate electricity
in a generator. Generator produce electric power for vehicle and
it goes to either the motor or energy storage systems [21].
Electric generator converts energy of engine to electrical energy.
This energy can store in the batteries or can use for electric
motor.
In the SHEVs, battery supplies electric power for electric
motor along with engine. The Battery charging is ensured either
by regenerative braking or by the generator [9]. Maximum
power of electric motor is used when total power of engine
generator motor and batteries are more than the power electric
motor. Energy of batteries must supply power for vehicle
acceleration even at worst conditions.
For simulation of batteries need to have many parameters
similar to parallel hybrid. SOC of batteries SHEV as shown in
Figure 10. , Initial charge of batteries is 0.7 and it is maximum
SOC for batteries. When vehicle accelerate, SOC decreases
because batteries supply power of motor. Controller is
determined for prevention of decreasing SOc. Minimum SOC
is set for controller because SOC doesn't less than setting value.

::~~f =s;z-~"'·1
o 500 1000 1500

Figure 10. State of Cherage

!~~~~1
Figure 9. Structure of Series hybrid vehicle

The vehicle has been simulated by ADVISOR using the

vehicle parameters listed in TABLE ill.

TABLE III. SPECIFICATION OF SERIES HYBRID ELECTRIC VElflCLE 220 0 500 1000 1500

Parameter of vehicle Sedan Figure II. Voltage ofbattries

Electric motor average power
70kW
(Induction Motor)
Top speed 108km1h
Capacitance of Battery 2.5 kWh C. Motor Controller
Initial SOC 0.7
Minimum SOC 0.4 Energy of motor controller in series hybrid supplies from
Drive Cycle CYC WVUCITY converter. Converter receives electric energy from generator and
batteries. Role of motor controller in series hybrid is different
with role it in parallel hybrid. Motor is connected directly to the
A. Control Strategy ofSeries Hybrid Electric Vehicles transmission and therefore to the wheels.
Control strategy uses for minimizing of fuel consumption
and pollution or designed for Maximizing of battery life. This

r~~f ~ :I --'~"'1
strategy uses with following approach:
• It's possible during rising of SOC fuel converter is
switched off.
• If SOC is low, the combustion engine must produce
o 500 1000 1500
extra torque.
Figure 12. Torque of electric motor
• If the vehicle required torque is greater than the
maximum engine torque, the electric motor supplies
auxiliary torque.

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25 th Iranian Conference on Electrical Engineering (ICEE2017)
V. CONCLUSION
As was seen Simulink ofHEVs with Advisor get easier than
other softwares because in this GUI exist all structures of vehicle
such as EV, HEV and Fuel cell. Also in Advisor exists map of a
lot of engines and electric motors for real time simulation and
result of this GUI is Close to reality.
In this paper simulated both structure ofHEVs, parallel and
series. As was seen in results of design and simulations the
traction motor in parallel is smaller than series structure and also
the power of motor drive in this configuration is greater than
series while the speed and other output characteristics doesn't
have difference to each other.
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