Modeling and HIL Real-Time Simulation of a Series Hybrid Vehicle with Regenerative Breaking for Energy Management Algorithm Testing

The objective of this paper is to present the design of a real-time Hardware in-the-loop (HIL) platform for testing different models of internal combustion engine (ICE), electric machines, energy management algorithms (EMAs) and power converter topologies in a series hybrid vehicle configuration with regenerative breaking and optimal fuel consumption. The article presents the modeling of the ICE and the electrical components, as well as the design of the controllers for each element of the powertrain. The engine model is composed by table data combined with lowpass filters to provide dynamic behavior. The proposed system is composed by two Permanent Magnet Synchronous Machines (PMSMs), one ICE and one battery pack. The electric machines are modeled in synchronous reference frame, and classical controllers are implemented for controlling the electric currents, DC bus voltage and the traction motor speed. The battery is modeled utilizing coulomb counting for SOC estimation and a Thevenin based battery model. The HIL platform is composed by and OPAL-RT OP 4510 and a Texas Instruments TMS32028379D.