Energy management for vehicular electric power systems

M.W.T. Koot

Research output: ThesisPhd Thesis 1 (Research TU/e / Graduation TU/e)Academic

Abstract

The electric energy consumption in passenger vehicles is rapidly increasing. To limit the associated increase in fuel consumption, an energy management system has been developed. This system exploits the fact that the losses in the internal combustion engine vary with the operating point, and uses the possibility to temporarily store electric energy in a battery, such that electric energy is only produced at moments when it is cheap to generate. To come to a practically applicable solution, a vehicle model is derived, containing only the component characteristics relevant for this application. The energy management problem is formulated as an optimization problem. The fuel consumption over a driving cycle is minimized, while respecting physical limitations of the components and maintaining an acceptable energy level of the battery. Several optimization methods are studied to come to a solution. The dynamic optimization problem is solved using Dynamic Programming. After rewriting it as a static optimization problem and approximating the cost function by a quadratic function, the problem is solved using Quadratic Programming, which requires less computation time. A real-time implementable strategy has been derived from the Quadratic Programming problem, that does not require a prediction of the future driving cycle. This strategy compares the current cost of producing electric energy with the estimated average cost. By adapting the average cost based on the energy level of the battery, it is ensured that the battery energy level will remain around the desired value. Simulations show that a fuel reduction up till 2% can be obtained on a conventional vehicle without major hardware changes. Higher reductions are possible on the exhaust emissions. To predict and explain the amount of fuel reduction that can be obtained with a given vehicle configuration, a set of engineering rules is derived based on typical component characteristics. Their results correspond reasonably well with the simulations. An advanced power net topology is studied which contains both a battery and an ultracapacitor that are connected by a DC-DC converter and a switch. Because of the increased complexity, this system is modeled using linear and piecewise linear approximations of the component characteristics, such that the energy management problem can be casted as a Linear Programming problem. The discrete switch makes it a Mixed Integer Linear Programming Problem. A realtime strategy, similar to the strategy for the conventional power net, has been derived. The addition fuel reduction that is obtained with the dual storage power net is small, because the maximum profit that can be obtained with an ideal lossless battery is not much higher than with a normal battery. Subsequently, hybrid electric vehicles are studied that use an Integrated Starter Generator which can be used for generating electric power and for vehicle propulsion. Several conSummary figurations are studied with respect to their potential fuel reduction. Configurations that enable start-stop operation of the engine obtain a much higher fuel reduction, up to 40%. The controllers are tested in real-time on a Hardware-in-the-Loop environment, where a vehicle simulation model is combined with existing electric components. It is shown that the electric power setpoints provided by an energy management strategy can be realized in practice.
LanguageEnglish
QualificationDoctor of Philosophy
Awarding Institution
  • Department of Mechanical Engineering
Supervisors/Advisors
  • Steinbuch, Maarten, Promotor
  • van den Bosch, Paul, Promotor
  • de Jager, Bram, Copromotor
Award date11 Oct 2006
Place of PublicationEindhoven
Publisher
Print ISBNs978-90-386-2868-4
DOIs
StatePublished - 2006

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Energy management
Electric power systems
Electron energy levels
Switches
Hardware
Costs
Energy management systems
Starters
Quadratic programming
Hybrid vehicles
DC-DC converters
Dynamic programming
Fuel consumption
Cost functions
Linear programming
Propulsion
Profitability
Energy utilization
Topology
Engines

Cite this

Koot, M. W. T. (2006). Energy management for vehicular electric power systems Eindhoven: Technische Universiteit Eindhoven DOI: 10.6100/IR613007
Koot, M.W.T.. / Energy management for vehicular electric power systems. Eindhoven : Technische Universiteit Eindhoven, 2006. 130 p.
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title = "Energy management for vehicular electric power systems",
abstract = "The electric energy consumption in passenger vehicles is rapidly increasing. To limit the associated increase in fuel consumption, an energy management system has been developed. This system exploits the fact that the losses in the internal combustion engine vary with the operating point, and uses the possibility to temporarily store electric energy in a battery, such that electric energy is only produced at moments when it is cheap to generate. To come to a practically applicable solution, a vehicle model is derived, containing only the component characteristics relevant for this application. The energy management problem is formulated as an optimization problem. The fuel consumption over a driving cycle is minimized, while respecting physical limitations of the components and maintaining an acceptable energy level of the battery. Several optimization methods are studied to come to a solution. The dynamic optimization problem is solved using Dynamic Programming. After rewriting it as a static optimization problem and approximating the cost function by a quadratic function, the problem is solved using Quadratic Programming, which requires less computation time. A real-time implementable strategy has been derived from the Quadratic Programming problem, that does not require a prediction of the future driving cycle. This strategy compares the current cost of producing electric energy with the estimated average cost. By adapting the average cost based on the energy level of the battery, it is ensured that the battery energy level will remain around the desired value. Simulations show that a fuel reduction up till 2{\%} can be obtained on a conventional vehicle without major hardware changes. Higher reductions are possible on the exhaust emissions. To predict and explain the amount of fuel reduction that can be obtained with a given vehicle configuration, a set of engineering rules is derived based on typical component characteristics. Their results correspond reasonably well with the simulations. An advanced power net topology is studied which contains both a battery and an ultracapacitor that are connected by a DC-DC converter and a switch. Because of the increased complexity, this system is modeled using linear and piecewise linear approximations of the component characteristics, such that the energy management problem can be casted as a Linear Programming problem. The discrete switch makes it a Mixed Integer Linear Programming Problem. A realtime strategy, similar to the strategy for the conventional power net, has been derived. The addition fuel reduction that is obtained with the dual storage power net is small, because the maximum profit that can be obtained with an ideal lossless battery is not much higher than with a normal battery. Subsequently, hybrid electric vehicles are studied that use an Integrated Starter Generator which can be used for generating electric power and for vehicle propulsion. Several conSummary figurations are studied with respect to their potential fuel reduction. Configurations that enable start-stop operation of the engine obtain a much higher fuel reduction, up to 40{\%}. The controllers are tested in real-time on a Hardware-in-the-Loop environment, where a vehicle simulation model is combined with existing electric components. It is shown that the electric power setpoints provided by an energy management strategy can be realized in practice.",
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Koot, MWT 2006, 'Energy management for vehicular electric power systems', Doctor of Philosophy, Department of Mechanical Engineering, Eindhoven. DOI: 10.6100/IR613007

Energy management for vehicular electric power systems. / Koot, M.W.T.

Eindhoven : Technische Universiteit Eindhoven, 2006. 130 p.

Research output: ThesisPhd Thesis 1 (Research TU/e / Graduation TU/e)Academic

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N2 - The electric energy consumption in passenger vehicles is rapidly increasing. To limit the associated increase in fuel consumption, an energy management system has been developed. This system exploits the fact that the losses in the internal combustion engine vary with the operating point, and uses the possibility to temporarily store electric energy in a battery, such that electric energy is only produced at moments when it is cheap to generate. To come to a practically applicable solution, a vehicle model is derived, containing only the component characteristics relevant for this application. The energy management problem is formulated as an optimization problem. The fuel consumption over a driving cycle is minimized, while respecting physical limitations of the components and maintaining an acceptable energy level of the battery. Several optimization methods are studied to come to a solution. The dynamic optimization problem is solved using Dynamic Programming. After rewriting it as a static optimization problem and approximating the cost function by a quadratic function, the problem is solved using Quadratic Programming, which requires less computation time. A real-time implementable strategy has been derived from the Quadratic Programming problem, that does not require a prediction of the future driving cycle. This strategy compares the current cost of producing electric energy with the estimated average cost. By adapting the average cost based on the energy level of the battery, it is ensured that the battery energy level will remain around the desired value. Simulations show that a fuel reduction up till 2% can be obtained on a conventional vehicle without major hardware changes. Higher reductions are possible on the exhaust emissions. To predict and explain the amount of fuel reduction that can be obtained with a given vehicle configuration, a set of engineering rules is derived based on typical component characteristics. Their results correspond reasonably well with the simulations. An advanced power net topology is studied which contains both a battery and an ultracapacitor that are connected by a DC-DC converter and a switch. Because of the increased complexity, this system is modeled using linear and piecewise linear approximations of the component characteristics, such that the energy management problem can be casted as a Linear Programming problem. The discrete switch makes it a Mixed Integer Linear Programming Problem. A realtime strategy, similar to the strategy for the conventional power net, has been derived. The addition fuel reduction that is obtained with the dual storage power net is small, because the maximum profit that can be obtained with an ideal lossless battery is not much higher than with a normal battery. Subsequently, hybrid electric vehicles are studied that use an Integrated Starter Generator which can be used for generating electric power and for vehicle propulsion. Several conSummary figurations are studied with respect to their potential fuel reduction. Configurations that enable start-stop operation of the engine obtain a much higher fuel reduction, up to 40%. The controllers are tested in real-time on a Hardware-in-the-Loop environment, where a vehicle simulation model is combined with existing electric components. It is shown that the electric power setpoints provided by an energy management strategy can be realized in practice.

AB - The electric energy consumption in passenger vehicles is rapidly increasing. To limit the associated increase in fuel consumption, an energy management system has been developed. This system exploits the fact that the losses in the internal combustion engine vary with the operating point, and uses the possibility to temporarily store electric energy in a battery, such that electric energy is only produced at moments when it is cheap to generate. To come to a practically applicable solution, a vehicle model is derived, containing only the component characteristics relevant for this application. The energy management problem is formulated as an optimization problem. The fuel consumption over a driving cycle is minimized, while respecting physical limitations of the components and maintaining an acceptable energy level of the battery. Several optimization methods are studied to come to a solution. The dynamic optimization problem is solved using Dynamic Programming. After rewriting it as a static optimization problem and approximating the cost function by a quadratic function, the problem is solved using Quadratic Programming, which requires less computation time. A real-time implementable strategy has been derived from the Quadratic Programming problem, that does not require a prediction of the future driving cycle. This strategy compares the current cost of producing electric energy with the estimated average cost. By adapting the average cost based on the energy level of the battery, it is ensured that the battery energy level will remain around the desired value. Simulations show that a fuel reduction up till 2% can be obtained on a conventional vehicle without major hardware changes. Higher reductions are possible on the exhaust emissions. To predict and explain the amount of fuel reduction that can be obtained with a given vehicle configuration, a set of engineering rules is derived based on typical component characteristics. Their results correspond reasonably well with the simulations. An advanced power net topology is studied which contains both a battery and an ultracapacitor that are connected by a DC-DC converter and a switch. Because of the increased complexity, this system is modeled using linear and piecewise linear approximations of the component characteristics, such that the energy management problem can be casted as a Linear Programming problem. The discrete switch makes it a Mixed Integer Linear Programming Problem. A realtime strategy, similar to the strategy for the conventional power net, has been derived. The addition fuel reduction that is obtained with the dual storage power net is small, because the maximum profit that can be obtained with an ideal lossless battery is not much higher than with a normal battery. Subsequently, hybrid electric vehicles are studied that use an Integrated Starter Generator which can be used for generating electric power and for vehicle propulsion. Several conSummary figurations are studied with respect to their potential fuel reduction. Configurations that enable start-stop operation of the engine obtain a much higher fuel reduction, up to 40%. The controllers are tested in real-time on a Hardware-in-the-Loop environment, where a vehicle simulation model is combined with existing electric components. It is shown that the electric power setpoints provided by an energy management strategy can be realized in practice.

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Koot MWT. Energy management for vehicular electric power systems. Eindhoven: Technische Universiteit Eindhoven, 2006. 130 p. Available from, DOI: 10.6100/IR613007