Vehicle Design Webinar Series
Vehicle Powertrain Modeling and Full Vehicle Simulation Using
MATLAB and Simulink
Akshra Narasimhan Ramakrishnan, MathWorks
Maitreyee Mordekar, MathWorks
Veer Alakshendra, MathWorks
© 2020 The MathWorks, Inc.
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Challenges
▪ Component selection
▪ Component sizing
▪ Vehicle level performance analysis and optimization
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Solution: Simulation Based Approach
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Agenda
▪ MATLAB and Simulink
– Driveline Modeling
▪ Simscape
– Engine Powered Vehicle Model
– BLDC Motor Powered Vehicle Model
▪ Powertrain Blockset
– Internal Combustion Engine Vehicle Model
– Full Electric Vehicle Model
▪ Simscape and Powertrain Blockset
▪ Resources
▪ Q&A
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Have you used MATLAB before?
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What is MATLAB?
▪ Programming platform designed specifically for engineers and scientists
▪ Matrix-based
▪ What can you do with MATLAB?
• Analyze data
• Develop algorithms
• Create models and applications
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What is Simulink?
The leading environment for modeling,
simulating and implementing dynamic and
embedded systems
▪ Block-diagram environment
▪ Model, simulate, and analyze multi-domain
systems
▪ Accurately design, implement, and test complex
systems for:
– Communications
– Control
– Signal processing
– Video and image processing
▪ Platform for Model-Based Design
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Equation Describing the Driveline
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Software Demonstration
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Resources
Vehicle Modeling Using Simulink
Link: https://www.mathworks.com/videos/matlab-and-simulink-racing-lounge-vehicle-modeling-part-1-simulink-1502466996305
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Simscape
Overview
▪ Enables physical modeling (acausal)
of multidomain physical systems
– Assemble a schematic
– Equations derived automatically V+
– Leverage MATLAB and Simulink
V-
▪ With Simscape you can:
– Refine requirements for system
– Discover integration issues early
– Design control systems and logic
– Optimize system-level performance
– Test embedded software
without hardware prototypes
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Simscape Driveline
Overview
▪ Enables physical modeling (acausal)
of multidomain powertrain systems
– Rotational and translational systems
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Vehicle Powertrain Using Simscape Driveline
Tire
Gear
Differential
Engine Torque
Converter
Tire
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Resources
Vehicle Powertrain Using Simscape Driveline
Link: https://www.mathworks.com/videos/modeling-a-vehicle-powertrain-68822.html
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Software Demonstration
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Simscape Electrical
Overview
▪ Enables physical modeling (acausal)
of electronic, mechatronic,
and electrical power systems
– Electrical system topology
represented by schematic circuit
IEEE European Low Voltage Test
Feeder (906 buses)
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Battery Modeling
Equivalent Circuit
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Resources
Modeling Batteries
Link: https://www.mathworks.com/videos/modeling-batteries-using-simulink-and-simscape-1562930245321.html
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Software Demonstration
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How to define the parameters?
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How to define the parameters?
✓ Build the vehicle model
✓ Define the problem
✓ Optimize the flux linkage
✓ Define the cost function
✓ Bound the vehicle velocity
(10 m/s – 12 m/s)
Find the model here: https://www.mathworks.com/matlabcentral/fileexchange/81623-electric-vehicle-powered-by-bldc-motor
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Response Optimization
Optimize model response to
satisfy design requirements
– Time-domain
– Frequency-domain
– Custom constraints
– Cost functions
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Resources
How to Use Response Optimization
Link: https://www.youtube.com/watch?v=b0jNOXZKuj8&list=PLn8PRpmsu08oBSjfGe8WIMN-2_rwWFSgr&index=12
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Technical Resources for Vehicle Modeling Using Simscape
Refer to
Reference
Motor Control Models
Series
Physical
Modeling
Simulink
I am new to MATLAB Onramp
and want to learn
more to build vehicle
models
MATLAB
Onramp
Teamwork
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Technical Resources for Vehicle Modeling Using Simscape
Link: https://www.formulastudent.de/pr/news/details/article/using-physical-modeling-to-design-and-simulate-an-electric-vehicle/
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Powertrain Blockset
▪ Goals:
– Provide starting point for engineers to build good plant / controller models
– Provide open and documented models
– Provide very fast-running models that work with popular HIL systems
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Drivetrain Energy Storage Propulsion Transmission Vehicle Dynamics Vehicle Scenario Builder
and Auxiliary Drive
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Reference Applications
Full Vehicle
Models
Virtual Engine
Dynamometers
Link: https://www.mathworks.com/help/autoblks/examples.html
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Software Demonstration
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Resources
Vehicle Modeling Using Powertrain Blockset
Link: https://www.mathworks.com/videos/matlab-and-simulink-racing-lounge-vehicle-modeling-part-2-powertrain-blockset-1502821383453
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Powertrain Blockset and Simscape
Tools have overlap in what they can do, but they have a different emphasis
Analysis
Powertrain
Blockset
Equation-based Data-driven
Simscape
Design 36
Custom Drivetrain or Transmission
▪ Replace portions of reference
application with custom models
assembled from Simscape libraries
▪ Use Variant Subsystems to
shift back and forth based on
current simulation task
Pre-Built Drivetrain Custom Drivetrain
Custom Transmission
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Engine Cooling System
▪ Take customization
one step further
▪ Start with “Custom
Driveline” variant
▪ Add Engine Cooling
subsystem adapted from
sscfluids_engine_cooling_system
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Conventional Vehicle with Simscape Engine Cooling
1. Heat rejection calculation 1
2. Heat distributed between 2
oil and coolant
3. Temperature of cylinder
used to validate cooling
system performance 1
2
3
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Battery Thermal Management
▪ Three modes to control
coolant temperature
– Heating
– Ambient cooling (via radiator)
– Two-phase cooling (via HVAC)
▪ Control strategies
– Feedforward + PID
– Minimize power usage
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Battery Thermal Management
Incorporate battery thermal
management system into
EV reference application
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Powertrain Blockset / Simscape Integration
▪ Create detailed, multi-domain subsystem models with Simscape
▪ Incorporate them into system level vehicle models from Powertrain Blockset
▪ Validate subsystem performance with closed loop simulation
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Vehicle Dynamics Blockset
Library of Prebuilt Scenes Fully Assembled Reference
Blocks Applications
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Recap: Which Tools To Use?
Software Tool When To Choose
• System equations are already known or can be derived
MATLAB + Simulink
• “Need a calculator to solve my equations and process results”
• Combine pre-made, detailed, and customizable models for
Powertrain Blockset +
powertrain and vehicle dynamics components
Vehicle Dynamics Blockset
• Connect to Unreal Engine for virtual environments and sensing
• Model mechanisms (motors, shifter actuators, etc.)
Simscape • Model multidomain systems (mechatronic, fluid, thermal)
• Reduce visual complexity: model without deriving equations
• Model 3D rigid body systems (suspension, steering, etc.)
Simscape Multibody
• Import kinematic models from CAD and add dynamics
… and you can combine them all!
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Tutorials
https://www.mathworks.com/ac
ademia/student-
competitions/tutorials-
videos.html
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https://www.mathworks.com/
academia/superstar-
students.html
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Student Competition Communities
Overview
Racing Lounge blog
(for all competitions)
Video series - Facebook Group
Video series - Facebook Group
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Student Communities
Engagement
▪ 100+ videos for automotive
and robotics
▪ 19k+ members across
2 Facebook groups
▪ Dedicated e-mails:
– [email protected]
– [email protected]
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Student Communities
MATLAB Central
▪ 50+ blog posts on
Racing Lounge blog
▪ 50+ File Exchange entries
from MathWorks Student
Competitions Team
▪ MATLAB Answers tags
– roboticsarena
– racinglounge
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Racing Lounge Resources
▪ Contact us
[email protected]
facebook.com/groups/RacingLounge
▪ Student Tutorials and Videos
https://www.mathworks.com/academia/student-competitions/tutorials-videos/
▪ Software Offer
mathworks.com/academia/student-competitions
▪ Racing Lounge Blog
http://blogs.mathworks.com/racing-lounge
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