Study of efficiency of the algorithm of acceleration and deceleration control of a wheeled vehicle by means of the accelerator pedal

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Abstract

BACKGROUND: As fuel costs are among the significant ones in vehicle operation, it is promising to use vehicle with electric drivetrains, such as battery electric vehicles, which make it possible to reduce these costs. The main key feature of them is mileage at one charge. In order to maximize this feature, designers are working on implementing more advanced energy sources with higher capacity and reducing energy transfer losses from the energy source to the driving wheels. In this path, electric drive is the main source of energy loss. Therefore, it is important not only to use more advanced electric drivetrains, but also to improve control algorithms. For the sake of this, it is necessary to define set points of demanded torque from the engine using only the accelerator pedal taking into account motion velocity, other conditions and vehicle performance. Implementation of this law helps driver to reduce energy consumption, as the vehicle is capable of moving using its inertia (free running) and using regenerative braking at maximum with minimal activity of main braking system.

AIM: Study of operation and efficiency of the algorithm of definition of traction and regenerative torque set points for the traction electric drive, definition of the free running mode depending on motion velocity and definition of the accelerator pedal position using methods of mathematical modeling of vehicle dynamics.

METHODS: The study of operation and efficiency of the law of definition of traction and regenerative torque set points for the traction electric drive and definition of the free running mode was conducted in the MATLAB/Simulink software package.

RESULTS: The paper contains fundamentals of building the algorithm of definition of traction and regenerative torque set points for the traction electric drive and definition of the free running mode, results of virtual study of operation and efficiency of this algorithm for driving a vehicle in the MATLAB/Simulink with virtual conditions relevant to the real ones.

CONCLUSIONS: The practical value of the study lies in ability of using the proposed law of definition of traction and regenerative torque set points for the traction electric drive and definition of the free running mode for development of control systems for traction drive of transport vehicles in order to increase their energy efficiency.

About the authors

Alexander V. Klimov

KAMAZ Innovation Center; Moscow Polytechnic University

Author for correspondence.
Email: klimmanen@mail.ru
ORCID iD: 0000-0002-5351-3622
SPIN-code: 7637-3104
Scopus Author ID: 57218166154

Cand. Sci. (Engineering), Associate Professor of the Advanced Engineering School of Electric Transport; Head of the Electric Vehicles Department

Russian Federation, Moscow; 38 Bolshaya Semenovskaya street, 107023 Moscow

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Supplementary files

Supplementary Files
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1. JATS XML
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2. Fig. 1. Main view of the vehicle.

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3. Fig. 2. Diagram of the traction electric equipment: ТЭД — a traction electric motor; ТАИН — a traction autonomous voltage invertor; ПСХЭЭ — a rechargeable electric energy storage system; Tp — a drivetrain; БУ – a control unit of the upper level system.

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4. Fig. 3. Vehicle motion modes depending on position of the accelerator pedal.

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5. Fig. 4. Graph of definition of set points of torque at the shaft of the traction electric motor: τpm(V) — maximal regenerative torque; τam(V) — maximal traction torque; hm(V) — position of the accelerator pedal, at which demand for maximal traction torque becomes available. Значение максимальной уставки рекуперативного момента на валу двигателя определяется по формуле:

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6. Fig. 5. The block diagram of the algorithm of the single pedal control.

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7. Fig. 6. Dependencies of demanded torque on position of the accelerator pedal at various vehicle motion velocity.

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8. Fig. 7. Main view of the simulation mathematical model: 1 — ground surface; 2 — the block of vehicle dynamics; 3 — traction electric motors; 4 — a driving cycle; 5 — traction invertors; 6 — drivetrain; 7 — climatic conditions; 8 — electric energy storage system; 9 — a wheel; 10 — front suspension; 11 — rear suspension; 12 — the control system; 13 — a rear axle drive.

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9. Fig. 8. Curve of the driving cycle [19].

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10. Fig. 9. Probability density of position of the accelerator pedal for the option with the direct torque control.

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11. Fig. 10. Probability density of position of the brake pedal for the option with the direct torque control.

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12. Fig. 11. Probability density of torque at a driving wheel for the option with the direct torque control.

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13. Fig. 12. Probability density of regenerative torque at a driving wheel for the option with the direct torque control.

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14. Fig. 13. Probability density of braking torque at a driving wheel for the option with the direct torque control.

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15. Fig. 14. Probability density of position of the accelerator pedal for the option with the single pedal control.

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16. Fig. 15. Probability density of torque at a driving wheel for the option with the single pedal control.

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17. Fig. 16. Probability density of regenerative torque at a driving wheel for the option with the single pedal control.

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18. Fig. 17. Specific regenerative power per kilometer during the motion according to the studied cycle: 1 — with the single pedal control; 2 — with the direct torque control.

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19. Fig. 18. Specific regenerative power : 1 — with the single pedal control; 2 — with the direct torque control.

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