Advanced electric drive vehicles

K20850

Engineering – Electrical

ISBN: 978-1-4665-9769-3

9 781466 597693

90000

Electrification is an evolving paradigm shift in the transportation industry toward

more efficient, higher performance, safer, smarter, and more reliable vehicles.

There is in fact a clear trend to move from internal combustion engines (ICEs) to

more integrated electrified powertrains.

Providing a detailed overview of this growing area, Advanced Electric Drive

Vehicles begins with an introduction to the automotive industry, an explanation of

the need for electrification, and a presentation of the fundamentals of conventional

vehicles and ICEs. It then proceeds to address the major components of electri￾fied vehicles—i.e., power electronic converters, electric machines, electric motor

controllers, and energy storage systems.

• Covers more electric vehicles (MEVs), hybrid electric vehicles (HEVs),

plug-in hybrid electric vehicles (PHEVs), range-extended electric vehicles

(REEVs), and all-electric vehicles (EVs) including battery electric vehicles

(BEVs) and fuel cell vehicles (FCVs)

• Describes the electrification technologies applied to nonpropulsion loads,

such as power steering and air-conditioning systems

• Discusses hybrid battery/ultra-capacitor energy storage systems, as well

as 48-V electrification and belt-driven starter generator systems

• Considers vehicle-to-grid (V2G) interface and electrical infrastructure issues,

energy management, and optimization in advanced electric drive vehicles

• Contains numerous illustrations, practical examples, case studies, and

challenging questions throughout to ensure a solid understanding of key

concepts and applications

Advanced Electric Drive Vehicles makes an ideal textbook for senior-level

undergraduate or graduate engineering courses and a user-friendly reference

for researchers, engineers, managers, and other professionals interested in

transportation electrification.

Advanced Electric Drive Vehicles

Advanced Electric

Drive Vehicles

Ali Emadi

A d v a n c e d E l e c t ri c D ri v e Ve h i c l e s

Emadi

Advanced Electric

Drive Vehicles

Energy, Power Electronics, and Machines

Series Editor

Ali Emadi

Advanced Electric Drive Vehicles

Ali Emadi

Switched Reluctance Motor Drives: Fundamentals of Magnetic

Design and Control

Babak Fahimi

Power Converters and AC Electrical Drives with Linear Neural Networks

Maurizio Cirrincione, Marcello Pucci, and Gianpaolo Vitale

Energy Harvesting: Solar, Wind, and Ocean Energy Conversion Systems

Alireza Khaligh and Omer C. Onar

CRC Press is an imprint of the

Taylor & Francis Group, an informa business

Boca Raton London New York

Advanced Electric

Drive Vehicles

Ali Emadi

McMaster University, Hamilton, Ontario, Canada

CRC Press

Taylor & Francis Group

6000 Broken Sound Parkway NW, Suite 300

Boca Raton, FL 33487-2742

© 2015 by Taylor & Francis Group, LLC

CRC Press is an imprint of Taylor & Francis Group, an Informa business

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Version Date: 20140825

International Standard Book Number-13: 978-1-4665-9770-9 (eBook - PDF)

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To my family

Ali Emadi

vii

Contents

Preface...............................................................................................................................................ix

Editor ................................................................................................................................................xi

Contributors................................................................................................................................... xiii

Chapter 1 Automotive Industry and Electrification......................................................................1

Ali Emadi and Josipa G. Petrunic´

Chapter 2 Fundamentals of Conventional Vehicles and Powertrains......................................... 15

William Long and Berker Bilgin

Chapter 3 Internal Combustion Engines.....................................................................................27

Fengjun Yan

Chapter 4 Fundamentals of Power Electronics........................................................................... 43

Pierre Magne, Xiaodong Shi, and Mahesh Krishnamurthy

Chapter 5 Fundamentals of Electric Machines......................................................................... 107

Berker Bilgin and Anand Sathyan

Chapter 6 Fundamentals of Electric Motor Control ................................................................. 187

Nicholas J. Nagel

Chapter 7 Fundamentals of Electric Energy Storage Systems ................................................. 237

Pawel P. Malysz, Lucia Gauchia, and Hong H. Yang

Chapter 8 Hybrid Energy Storage Systems...............................................................................283

Omer C. Onar and Alireza Khaligh

Chapter 9 Low-Voltage Electrical Systems for Nonpropulsion Loads ..................................... 317

Ruoyu Hou, Pierre Magne, and Berker Bilgin

Chapter 10 48-V Electrification: Belt-Driven Starter Generator Systems.................................. 331

Sanjaka G. Wirasingha, Mariam Khan, and Oliver Gross

Chapter 11 Fundamentals of Hybrid Electric Powertrains.........................................................369

Mengyang Zhang, Piranavan Suntharalingam, Yinye Yang, and Weisheng Jiang

viii Contents

Chapter 12 Hybrid Electric Vehicles .......................................................................................... 411

Piranavan Suntharalingam, Yinye Yang, and Weisheng Jiang

Chapter 13 Fundamentals of Chargers ....................................................................................... 439

Fariborz Musavi

Chapter 14 Plug-In Hybrid Electric Vehicles..............................................................................465

Yinye Yang, Weisheng Jiang, and Piranavan Suntharalingam

Chapter 15 All-Electric Vehicles and Range-Extended Electric Vehicles ................................. 491

Weisheng Jiang, Yinye Yang, and Piranavan Suntharalingam

Chapter 16 Vehicle-to-Grid Interface and Electrical Infrastructure .......................................... 517

Giampaolo Carli, Arash Shafiei, Florence Berthold,

and Sheldon S. Williamson

Chapter 17 Energy Management and Optimization ................................................................... 557

Ilse Cervantes

ix

Preface

Electrification is an evolving paradigm shift in the transportation industry toward more efficient,

higher performance, safer, smarter, and more reliable vehicles. There is in fact a clear trend to shift

from internal combustion engines (ICEs) to more integrated electrified powertrains. Nonpropulsion

loads, such as power steering and air-conditioning systems, are also being electrified. Electrified

vehicles include more electric vehicles (MEVs), hybrid electric vehicles (HEVs), plug-in hybrid

electric vehicles (PHEVs), range-extended electric vehicles (REEVs), and all electric vehicles (EVs)

including battery electric vehicles (BEVs) and fuel cell vehicles (FCVs).

This book begins with an introduction to the automotive industry and explains the need for elec￾trification in Chapter 1. Parallels with other industries such as the telecommunications industry are

highlighted. Chapter 1 also explains how the paradigm shift began with MEVs, was established by

HEVs, is gaining momentum by PHEVs and REEVs, and will be completed by EVs.

Chapters 2 and 3 present the fundamentals of conventional vehicles and ICEs, respectively.

Chapters 4 through 7 focus on the major components of electrified vehicles including power elec￾tronic converters, electric machines, electric motor controllers, and energy storage systems. Chapter

8 introduces hybrid battery/ultra-capacitor energy storage systems with applications in advanced

electric drive vehicles.

Chapter 9 presents the electrification technologies applied to nonpropulsion loads with low￾voltage electrical systems. 48 V electrification and belt-driven starter generator systems are

explained in Chapter 10, while Chapters 11 and 12 introduce the fundamentals of hybrid power￾trains and HEVs, respectively. Chapter 13 is then focused on chargers needed for plug-in vehicles.

PHEVs are studied in Chapter 14. EVs and REEVs are described in Chapter 15. In addition, vehi￾cle-to-grid (V2G) interface and electrical infrastructure issues are presented in Chapter 16. Finally,

Chapter 17 deals with energy management and optimization in advanced electric drive vehicles.

This book is planned as a comprehensive textbook covering major aspects of advanced electric

drive vehicles for a graduate or senior-level undergraduate course in engineering. Each chapter

includes various illustrations, practical examples, and case studies. This book is also an easy-to￾follow reference on electrified vehicles for engineers, managers, students, researchers, and other

professionals who are interested in transportation electrification.

I would like to acknowledge the efforts and assistance of the staff of Taylor & Francis/CRC

Press, especially Ms. Nora Konopka, Ms. Jessica Vakili, and Ms. Michele Smith. I would also like

to thank Mr. Weisheng Jiang for his kind efforts in preparing many of the illustrations in this book.

Ali Emadi

November 2014

xi

Editor

Ali Emadi (IEEE S’98-M’00-SM’03-F’13) received BS (1995) and MS (1997) in electrical

engineering with the highest distinction from Sharif University of Technology, Tehran, Iran. He

received his PhD (2000) in electrical engineering from Texas A&M University, College Station,

Texas. He is currently the Canada Excellence Research Chair (CERC) in Hybrid Powertrain and the

director of McMaster Institute for Automotive Research and Technology (MacAUTO) at McMaster

University in Hamilton, Ontario, Canada. Before joining McMaster University, Dr. Emadi was the

Harris Perlstein endowed chair professor of engineering and the director of the Electric Power and

Power Electronics Center and Grainger Laboratories at Illinois Institute of Technology (IIT) in

Chicago, where he established research and teaching facilities as well as courses in power electron￾ics, motor drives, and vehicular power systems. In addition, Dr. Emadi was the founder, chairman,

and president of Hybrid Electric Vehicle Technologies, Inc. (HEVT)—a university spin-off com￾pany of IIT.

Dr. Emadi is the recipient of numerous awards and recognitions. He was named a Chicago

Matters Global Visionary in 2009. He was named the Eta Kappa Nu Outstanding Young Electrical

Engineer of the Year 2003 (a single international award) by virtue of his outstanding contributions

to hybrid electric vehicles by the Electrical Engineering Honor Society. He also received the 2005

Richard M. Bass Outstanding Young Power Electronics Engineer Award from the IEEE Power

Electronics Society. In 2005, he was selected as the best professor of the year by the students of IIT.

Dr. Emadi is the recipient of the 2002 University Excellence in Teaching Award from IIT as well as

the 2004 Sigma Xi/IIT Award for Excellence in University Research. He directed a team of students

to design and build a novel motor drive, which won the First Place Overall Award of the 2003 IEEE

International Future Energy Challenge for Motor Competition. In addition, he was the advisor of

the Formula Hybrid Teams at IIT and McMaster University, which won the GM Best Engineered

Hybrid Systems Award at the 2010 and 2013 Formula Hybrid Competitions, respectively.

Dr. Emadi is the principal author/coauthor of over 300 journal and conference papers as well

as several books including Vehicular Electric Power Systems: Land, Sea, Air, and Space Vehicles

(Marcel Dekker, 2003), Energy Efficient Electric Motors (Marcel Dekker, 2004), Uninterruptible

Power Supplies and Active Filters (CRC Press, 2004), Modern Electric, Hybrid Electric, and

Fuel Cell Vehicles: Fundamentals, Theory, and Design, Second Edition (CRC Press, 2009), and

Integrated Power Electronic Converters and Digital Control (CRC Press, 2009). Dr. Emadi is also

the editor of the Handbook of Automotive Power Electronics and Motor Drives (CRC Press, 2005).

Dr. Emadi was the general chair of the 1st IEEE Vehicle Power and Propulsion Conference

(VPPC’05), which was co-located under his chairmanship with the Society of Automotive Engineers

(SAE) International Future Transportation Technology Conference. He was also the general chair

of the 2011 IEEE VPPC. He is currently the steering committee chair of the IEEE Transportation

Electrification Conference and Expo (ITEC). In addition, Dr. Emadi was the inaugural general chair

of the 2012 ITEC. He has served as the chair of the IEEE Vehicle Power and Propulsion Steering

Committee, the chair of the Technical Committee on Vehicle and Transportation Systems of the

IEEE Power Electronics Society, and the chair of the Power Electronics Technical Committee of the

IEEE Industrial Electronics Society. He has also served as the chair of the 2007 IEEE International

Future Energy Challenge.

Dr. Emadi is the editor-in-chief of the IEEE Transactions on Transportation Electrification. He

is also the editor (North America) of the International Journal of Electric and Hybrid Vehicles.

He was the guest editor-in-chief of the special issue on Transportation Electrification and Vehicle

Systems, IEEE Transactions on Power Electronics. He has also served as the guest editor-in-chief

xii Editor

of the special issue on Transportation Electrification and Vehicle-to-Grid Applications, IEEE

Transactions on Smart Grid, and the guest editor-in-chief of the special issue on Automotive Power

Electronics and Motor Drives, IEEE Transactions on Power Electronics. He has also been the

guest editor of the special section on Hybrid Electric and Fuel Cell Vehicles, IEEE Transactions

on Vehicular Technology, and the guest editor of the special section on Automotive Electronics and

Electrical Drives, IEEE Transactions on Industrial Electronics.

xiii

Florence Berthold

Department of Electrical and Computer

Engineering

Concordia University

Montreal, Quebec, Canada

Berker Bilgin

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Giampaolo Carli

Department of Electrical and Computer

Engineering

Concordia University

Montreal, Quebec, Canada

Ilse Cervantes

Institute for Scientific and Technological

Research of San Luis Potosi (IPICyT)

San Luis Potosi, Mexico

Ali Emadi

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Lucia Gauchia

Michigan Technological University

Houghton, Michigan

Oliver Gross

Oxford, Michigan

Ruoyu Hou

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Weisheng Jiang

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Alireza Khaligh

Electrical and Computer Engineering

Department

University of Maryland

College Park, Maryland

Mariam Khan

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Mahesh Krishnamurthy

Electric Drives and Energy Conversion

Laboratory

Illinois Institute of Technology

Chicago, Illinois

William Long

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Pierre Magne

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Pawel P. Malysz

McMaster Institute for Automotive Research

and Technology (MacAUTO)

McMaster University

Hamilton, Ontario, Canada

Fariborz Musavi

Novum Advanced Power, CUI, Inc.

Portland, Oregon

Nicholas J. Nagel

Research and Development, Triumph

Aerospace Systems

Seattle, Washington

Contributors