Advanced Electric Drive Vehicles Ali 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 Advanced Electric Drive Vehicles A li E ma di M c M a s t e r U n i v e r s i t y, H a m i l t o n , O n t a r i o , C a n a d a Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Group, an informa business 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 No claim to original U. Government works Version Date: 20140825 International Standard Book Number-13: 978-1-4665-9770-9 (eBook - PDF) This book contains information obtained from authentic and highly regarded sources. Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the valid- ity of all materials or the consequences of their use.
The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. Except as permitted under U. Copyright Law, no part of this book may be reprinted, reproduced, transmitted, or uti- lized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopy- ing, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers.
For permission to photocopy or use material electronically from this work, please access www.com (http:// www.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged.
Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Visit the Taylor & Francis Web site at http://www.com and the CRC Press Web site at http://www.com To my family Ali Emadi Contents Preface. xiii Chapter 1 Automotive Industry and Electriication. 1 Ali Emadi and Josipa G.
Petrunić 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. Nagel Chapter 7 Fundamentals of Electric Energy Storage Systems. Malysz, Lucia Gauchia, and Hong H. Yang Chapter 8 Hybrid Energy Storage Systems.
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 Electriication: Belt-Driven Starter Generator Systems. Wirasingha, Mariam Khan, and Oliver Gross Chapter 11 Fundamentals of Hybrid Electric Powertrains. 369 Mengyang Zhang, Piranavan Suntharalingam, Yinye Yang, and Weisheng Jiang vii 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 Shaiei, Florence Berthold, and Sheldon S.
Williamson Chapter 17 Energy Management and Optimization. 557 Ilse Cervantes Preface Electriication is an evolving paradigm shift in the transportation industry toward more eficient, 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 electriied powertrains. Nonpropulsion loads, such as power steering and air-conditioning systems, are also being electriied.
Electriied 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- triication 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 electriied 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 electriication technologies applied to nonpropulsion loads with low- voltage electrical systems.
48 V electriication 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 electriied vehicles for engineers, managers, students, researchers, and other professionals who are interested in transportation electriication. 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.
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 ix 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. 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.
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. 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 Eficient 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).
Emadi is also the editor of the Handbook of Automotive Power Electronics and Motor Drives (CRC Press, 2005). 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 Electriication 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.
Emadi is the editor-in-chief of the IEEE Transactions on Transportation Electriication. 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 Electriication and Vehicle Systems, IEEE Transactions on Power Electronics. He has also served as the guest editor-in-chief xi xii Editor of the special issue on Transportation Electriication 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. Contributors Florence Berthold Alireza Khaligh Department of Electrical and Computer Electrical and Computer Engineering Engineering Department Concordia University University of Maryland Montreal, Quebec, Canada College Park, Maryland Berker Bilgin Mariam Khan McMaster Institute for Automotive Research McMaster Institute for Automotive Research and Technology (MacAUTO) and Technology (MacAUTO) McMaster University McMaster University Hamilton, Ontario, Canada Hamilton, Ontario, Canada Giampaolo Carli Department of Electrical and Computer Mahesh Krishnamurthy Engineering Electric Drives and Energy Conversion Concordia University Laboratory Montreal, Quebec, Canada Illinois Institute of Technology Chicago, Illinois Ilse Cervantes Institute for Scientiic and Technological William Long Research of San Luis Potosi (IPICyT) McMaster Institute for Automotive Research San Luis Potosi, Mexico and Technology (MacAUTO) Ali Emadi McMaster University McMaster Institute for Automotive Research Hamilton, Ontario, Canada and Technology (MacAUTO) McMaster University Pierre Magne Hamilton, Ontario, Canada McMaster Institute for Automotive Research and Technology (MacAUTO) Lucia Gauchia McMaster University Michigan Technological University Hamilton, Ontario, Canada Houghton, Michigan Oliver Gross Pawel P.