Dynamic Closed-Loop Validation of a Hardware-in-the-Loop Testbench for Parallel Hybrid Electric Vehicles

World Electric Vehicle Journal, vol. 16, pp. 273

Abstract

The complexity and shortening of development cycles in the automotive industry, particularly with the rise in hybrid electric vehicle sales, increases the need for efficient calibration and testing methods. Virtualization using hardware-in-the-loop testbenches has the potential to counteract these trends, specifically for the calibration of hybrid operating strategies. This paper presents a dynamic closed-loop validation of a hardware-in-the-loop testbench designed for the virtual calibration of hybrid operating strategies for a plug-in hybrid electric vehicle. Requirements regarding the hardware-in-the-loop testbench accuracy are defined based on the investigated use case. From this, a dedicated hardware-in-the-loop testbench setup is derived, including an electrical setup as well as a plant simulation model. The model is then operated in a closed loop with a series production hybrid control unit. The closed-loop validation results demonstrate that the chassis simulation reproduces driving resistance closely aligning with the reference data. The driver model follows target speed profiles within acceptable limits, achieving an R2 = 0.9993, comparable to the R2 reached by trained human drivers. The transmission model replicates the gear ratios, maintaining rotational speed deviations below 30 min−1. Furthermore, the shift strategy is implemented in a virtual control unit, resulting in a gear selection comparable to reference measurements. The energy flow simulation in the complete powertrain achieves high accuracy. Deviations in the high-voltage battery state of charge remain below 50 Wh in a WLTC charge-sustaining drive cycle and are thus within the acceptable error margin. The net energy change criterion is satisfied with the hardware-in-the-loop testbench, achieving a net energy change of 0.202%, closely matching the reference measurement of 0.159%. Maximum deviations in cumulative high-voltage battery energy are proven to be below 10% in both the charging and discharging directions. Fuel consumption and CO2 emissions are modeled with deviations below 3%, validating the simulation’s representation of vehicle efficiency. Real-time capability is achieved under all investigated operating conditions and test scenarios. The testbench achieves a real-time factor of at least 1.104, ensuring execution within the hard real-time criterion. In conclusion, the closed-loop validation confirms that the developed hardware-in-the-loop testbench satisfies all predefined requirements, accurately simulating the behavior of the reference vehicle.

Authors 7

1. Marc Timur Düzgün corresponding Aachen Chair of Thermodynamics of Mobile Energy Conversion Systems (TME)

   RWTH Aachen University

   Affiliation as printed

   Chair of Thermodynamics of Mobile Energy Conversion Systems, RWTH Aachen University, 52074 Aachen, Germany

2. Christian Heusch Aachen Chair of Thermodynamics of Mobile Energy Conversion Systems (TME)

   RWTH Aachen University

   Affiliation as printed

   Chair of Thermodynamics of Mobile Energy Conversion Systems, RWTH Aachen University, 52074 Aachen, Germany

3. Sascha Krysmon Aachen FEV Europe GmbH

   FEV (Germany)

   Affiliation as printed

   FEV Europe GmbH, 52078 Aachen, Germany

4. Christian Dönitz Aachen FEV Europe GmbH

   FEV (Germany)

   Affiliation as printed

   FEV Europe GmbH, 52078 Aachen, Germany

5. Sung-Yong Lee Aachen

   RWTH Aachen University

   Affiliation as printed

   Teaching and Research Area Mechatronics in Mobile Propulsion, RWTH Aachen University, 52074 Aachen, Germany

6. Jakob Andert Aachen

   RWTH Aachen University

   Affiliation as printed

   Teaching and Research Area Mechatronics in Mobile Propulsion, RWTH Aachen University, 52074 Aachen, Germany

7. Stefan Pischinger Aachen Chair of Thermodynamics of Mobile Energy Conversion Systems (TME)

   RWTH Aachen University

   Affiliation as printed

   Chair of Thermodynamics of Mobile Energy Conversion Systems, RWTH Aachen University, 52074 Aachen, Germany