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Design and Experimental Validation of a Virtual Vehicle Control Concept for Testing Hybrid Vehicles Using a Hydrostatic Dynamometer

[+] Author Affiliations
Zhekang Du, Perry Y. Li, Kai Loon Cheong, Thomas R. Chase

University of Minnesota, Minneapolis, MN

Paper No. DSCC2014-6290, pp. V001T15A006; 8 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4618-6
  • Copyright © 2014 by ASME


An approach to control a hydrostatic dynamometer for the Hardware-In-the-Loop (HIL) testing of hybrid vehicles has been developed and experimentally tested. The hydrostatic dynamometer used, which is capable of regeneration, was specifically designed and built in-house to evaluate the fuel economy and control strategy of a hydraulic hybrid vehicle. The control challenge comes from the inertia of the dynamometer being only 3% of that of the actual vehicle so that the dynamometer must apply, in addition to any drag torques, acceleration/deceleration torques related to the difference in inertias. To avoid estimating the acceleration which would be a non-causal operation, a virtual vehicle concept is introduced. The virtual vehicle model generates a reference speed profile which represents the behavior of the actual vehicle if driven on the road. The dynamometer control problem becomes one of enabling the actual vehicle-dyno shaft to track the speed of the virtual vehicle, instead of directly applying a desired torque. A feedback/feedforward controller was designed based upon an experimentally validated dynamic model of the dynamometer. The approach was successfully tested on a power-split hydraulic hybrid vehicle with acceptable speed and torque tracking performance.

Copyright © 2014 by ASME



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