400 Commonwealth Drive, Warrendale, PA 15096-0001 U.S.A. Tel: (724) 776-4841 Fax: (724) 776-5760 Web: www.sae.org SAE TECHNICAL PAPER SERIES 2003-01-3369 Control System Development for an Advanced- Technology Medium-Duty Hybrid Electric Truck Chan-Chiao Lin, Huei Peng and Jessy W. Grizzle University of Michigan Jason Liu and Matt Busdiecker Eaton Corporation 2003 SAE International Truck and Bus Meeting and Exhibition Fort Worth, Texas November 10-12, 2003Downloaded from SAE International by University of Birmingham, Sunday, August 19, 2018All rights reserved. No part of this publication ma y be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE. For permission and licen sing requests contact: SAE Permissions400 Commonwealth DriveWarrendale, PA 15096-0001-USAEmail: [email protected]: 724-772-4891Tel: 724-772-4028 For multiple print copies contact: SAE Customer ServiceTel: 877-606-7323 (in side USA and Canada) Tel: 724-776-4970 (outside USA)Fax: 724-776-1615Email: [email protected] ISSN 0148-7191Copyright © 2003 SAE InternationalPositions and opinions advanced in th is paper are those of the autho r(s) and not necessarily those of SAE. The author is solely respo nsible for the content of the paper. A process is available by which discussions will be printed with the paper if it is published in SAE Transactions. Persons wishing to submit pape rs to be considered for presentation or publication by SAE should send the manuscript or a 300 word abstract of a proposed ma nuscript to: Secretary, Eng ineering Meetings Board, SAE. Printed in USADownloaded from SAE International by University of Birmingham, Sunday, August 19, 20182003-01-3369 Control System Development for an Advanced-Technology Medium-Duty Hybrid Electric Truck Chan-Chiao Lin, Huei Peng and Jessy W. Grizzle University of Michigan Jason Liu and Matt Busdiecker Eaton Corporation Copyright © 2003 SAE International ABSTRACT The power management control system development and vehicle test results for a medium-duty hybrid electric truck are reported in this paper. The design procedure adopted is a model-based approach, and is based on the dynamic programming technique. A vehicle model is first developed, and the optimal control actions to maximize fuel economy are then obtained by the dynamic programming method. A near-optimal control strategy is subsequently extracted and implemented using a rapid-prototyping control development system, which provides a convenient environment to adjust the control algorithms and accommodate various I/O configurations. Dynamometer-testing results confirm that the proposed algorithm helps the prototype hybrid truck to achieve a 45% fuel economy improvement on the benchmark (non-hybrid) vehicle. It also compares favorably to a conventional rule-based control method, which only achieves a 31% fuel economy improvement on the same hybrid vehicle. INTRODUCTION Hybrid powertrain is among the most visible transportation technologies developed over the last decade. Starting from the ground-breaking PNGV effort in the early 1990’s, the introduction of Prius and Insight hybrid vehicles in the late 1990’s, to the planned 2005 lineup of close to 10 commercially available vehicles in the US, hybrid vehicles have moved quickly from concept to reality. This quick acceptance is mainly due to the potential of hybrid technologies in reducing fuel consumption and emissions, especially for vehicles driving in urban areas with frequent starts and stops. In this paper, the design of a power management control system is described for a hybrid electric vehicle (HEV). The hybrid electric truck that employs this control system features a “Direct Hybrid” powertrain system [1], which integrates an advanced diesel engine, an electric traction motor, Lithium-Ion batteries, an automatic clutch, and an