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MATLAB and Simulink Racing Lounge: Vehicle Modeling

Simulink and Powertrain Blockset models for the Vehicle Modeling series

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Updated 20 Jun 2018

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This entry contains files accompanying the MATLAB and Simulink Racing Lounge video "Vehicle Modeling, Part 1: Simulink"
[Video link: https://www.mathworks.com/videos/matlab-and-simulink-racing-lounge-vehicle-modeling-part-1-simulink-1502466996305.html]
The entry also contains the models accompanying the MATLAB and Simulink Racing Lounge video "Vehicle Modeling, Part 2: Powertrain Blockset"
[Video Link: https://www.mathworks.com/videos/matlab-and-simulink-racing-lounge-vehicle-modeling-part-2-powertrain-blockset-1502821383453.html]
The Simulink models show how to represent vehicle dynamics and specific components using a power loss approach.
* A glider model shows how to model vehicle dynamics to obtain high level information about tractive force requirements for a given weight and drive cycle.
* A battery electric vehicle (BEV) model shows how to use a power loss approach to represent individual components, such as the electric motor.
* A combustion engine vehicle model is also included for additional reference.

The Powertrain Blockset models show how single blocks can represent component operation, e.g: battery, motor, engine, transmission, differential, etc. These models include a glider, a BEV, and a combustion engine vehicle.

Comments and Ratings (61)

Thanks Sir Christoph Han for previous reply. I will slowly learn from the links.
For this model, may I know why there are negative values for motor power output and motor power input? I am trying to calculate efficiency from Sir's model and I'm getting negative efficiency values.

Dear Ang Xian Jia,
yes what you want to do (motor and battery specifications, then output the drive cycle information) is absolutely feasible.
Allow me to refer you to two more resources:
#1 This will help you to model and parametrize batteries, which we didn't cover in detail: https://www.mathworks.com/solutions/power-electronics-control/battery-models.html
#2 Some materials how to output and log drive data from a vehicle / powertrain model: https://www.mathworks.com/videos/student-competition-physical-modeling-training-part-3-introduction-to-vehicle-modeling-107485.html
Hope this helps!
Best, Christoph

Hi Sir Christoph,
Is it possible for us to input the motor and battery specifications, then output the drive cycle information, like speed,distance and range travelled? If yes, may you guide me on how to do it or any reference to refer to? Or is the method to solve the problem is quite same with the model done by you but in a reversing way of model?

Hi Zeeshan,
we are referring to this paper: Zhang, B, and Mi, C. (2011), “Charge-Depleting Control Strategies and Fuel Optimization of Blended-Mode Plug-In Hybrid Electric Vehicles”, IEEE Transactions on Vehicular Technology, Vol. 60, No. 4, May 2011.
Hope this can be of help to you,
Best, Christoph

Hello Christoph,
We are using your model for our 3kw BLDC motor and we would like to calculate the Kc, Kw& Ki constants for our motor model.Can you please tell us how did you derive the equation of Ploss= Kc*Torque^2 + Ki*w + Kw*w^3.
It will be really helpful if you can guide us through the process of deriving those constants and the equation.
Thank you.

Hi Monal,
what model are you referring to?
Please send an email to racinglounge@mathworks.com. We'll be happy to have a look.
Best, Christoph

Monal Gedam

Hello, Can anyone tell me what is w_max, and w_ref in the workspace and where it is used. Please help

Hi Christoph Sir,
I want to model a BEV using induction motor in simulink , could you possibly guide me with the useful resources.

Hi Shashank,
Thanks for the notes! I am referring to both of your queries from 14 Aug (#1) and 5 Aug (#2).
#1 I am not entirely sure what exact model you are referring to. Could you please point me to it?
#2 Consider the PID block as 'driver' that tries to stick to the drive cycle. The block will always try to minimize the delta between, e.g. car speed and required speed (from drive cycle). Simulink is coming without units and brake as well as accelerator commands may have values between [0,1].

Hey, in your battery model the open circuit voltage remains constant throughout. Should't that change as a function of state of charge?

Harit Bajaj

Hey Christoph,
Could you possibly guide me to the equations used in the models or the slides that were mentioned in the video

Hello Mr. Chris. I would like to know in what units or nature is the PID output? In the first part of the video, the mph error is somehow processed and PID output a tractive force. I don't understand how that is achieved. Also, secondly can the PID output, which is the accelerator and brake command in the model, be the input to the electric motor? I want to use the drive cycle as a throttle input to my battery/model. Sorry, I'm pretty new to the software.

Hi Kevin, I just downloaded the models and ran 'Driver_Glider.slx' exemplarily without any issue. Make sure your current folder in MATLAB is the one with the model. Hope this helps. Best, Christoph

Hi Christoph sir

I've downloaded the models but when I open them, the Canvas interface shows me the next error:
"Failed to load library 'Driver_Glider_Library' referenced by 'BEV/Driver "

how can I solve this problem?

Thankk you

Hi William,
hereby I am linking a T-dependent battery model: https://www.mathworks.com/help/physmod/sps/examples/lithium-ion-temperature-dependent-battery-model.html.
Hope that is relevant to you.
Cheers

HI Parth,
changing the drive cycle is straightforward. Just replace the drive-cycle that comes with the model. (It is stored in the model workspace: https://www.mathworks.com/help/simulink/ug/change-model-workspace-data.html) and replace it with something custom.
Cheers

How would it be possible to make the battery temperature dependent? Such that the battery SOC is affected at different temperatures?

Parth Patel

How can one change the drive cycle? for Example NEDC ,WTP

Dear Saksham, Thanks for your great feedback! You may of course cite this as internet resource.

Thank you for such a versatile model. I would like to cite this, can you please guide as to how I should go about doing it?

Thank you.

Hi Dinesh,

To answer your second question, it would be better if you could share the email with us on racinglounge@mathworks.com.

Thanks,
Veer

Hi Dinesh,

The values are stored in the Simulink model workspace.
You may access it through Simulink toolbar -> View -> Model Explorer.
This link provides a bit more background: https://de.mathworks.com/help/simulink/ug/change-model-workspace-data.html

In case you are still unable to find the data, drop an email to racinglounge@mathworks.com. We will send you the screen shots via email.

Thanks,
Veer

Dinesh tej

Hii Christoph sir
I am not getting, should I add BEV model to that Existing 3D Animation or the Power train blocks which are available in the file exchange?

Dinesh tej

Hii Christoph sir
Can you Please tell me what is the Specifications of Battery, motor specifications and type of motor used here ?

Hi Deepa,

some thoughts about the question you asked on March 30:
That inclination angle is used by the GradeForce[N] block, which calculates a force based on massVeh*gravity*sin(inclinationAngle). By default, the sin function in MATLAB takes angles as radians. To operate in degrees, then use massVeh*gravity*sin(deg2rad(inclinationAngle))
The negative speed value means reverse motion. This would happen if resistive forces (like grade) act on the vehicle before the tractive force can dominate the vehicle motion.

Hope this helps,
Best, Christoph

Hi Dinesh Tej,

the model you are referring to is a simplified one. It takes into account the powertrain and the longitudinal dynamics. So e.g. lateral dynamics are entirely missing. It wouldn’t be very helpful to display this in 3D animation.

What you may want to do is the following.
1. Check out the Vehicle Dynamics Blockset including its examples. E.g. run this command >> vdynblksSceneCameraRayStart in the MATLAB Command Window. Thereby you get the 3D animation running.
2. Add the vehicle model features from this FileExchange submission to the model created in #1.

Hope this helps to get started.
Best, Christoph

Dinesh tej

How to add 3D animations to the your BEV model ?

DEEPA ANAND

DEEPA ANAND

Hi Christoph sir,
the inclination angle given is zero degrees in the modelling, when we change the angle to say 20 degrees the output velocity is getting started from -2.3 mph while the input is unchanged, can you please briefly describe what does that negative values interpret in the real time?

Hi Deepa, you may certainly give it an initial try using PID Tuner (https://www.mathworks.com/discovery/pid-tuning.html). With respect to the vehicle model, the PID block is actually a (very simplified) representation of the vehicle. So you would want to tune it to mimick you actual vehicle. Same holds true for the driver. Via the PID block you can tune it to be more aggressive or relaxed. Best, Christoph

DEEPA ANAND

thank you Christoph sir.
And Can you please tell me how the PID constants are selected particularly for both driver glider(P-7500, I-1, D-0) and BEV system(P-250, I-1, D-0).

Hi Deepa, these are motor loss constants: k_c [s / kg m^2], ki [J], k_w [kg m^2]. In general, you could say that: P_loss = P_in - P_out. P_loss in our example is a function of p_in and is approximated by a quadratic equation with these constants: P_loss = C_0 + C_1 * P_in + C_2 * P_in^2. If you have test data about losses, I suggest you do your own regression / curve fitting to get the constants. If you don't have test data, you could start with an ideal (lossless) motor and estimate the impact of the error. Best, Christoph

DEEPA ANAND

Sir how to choose the constants like Kc, Ki, Kw etc. ?

Hi Yujie, I guess you are referring to the models of the physical modeling tutorial that we are mentioning in the video. Find them here: https://www.mathworks.com/videos/series/student-competition-physical-modeling-training-107490.html. Hope this is what you are looking for. Best, Christoph

Yujie Hu

battery, motor, engine... models cannot be found in the zip file. Could you add them in? Thank you very much!

Hi Deepa Anand,
the drive cycle is stored in the Simulink model workspace.
You may access it through Simulink toolbar -> View -> Model Explorer.
This link provides a bit more background: https://de.mathworks.com/help/simulink/ug/change-model-workspace-data.html
Best, Christoph

DEEPA ANAND

how I can access the drive cycle stored parameters?

Hi Josh,
good point! The data is accessible through the Simulink model workspace. See here a reference: https://www.mathworks.com/help/simulink/ug/using-model-workspaces.html.
Hope that helps.
Best, Christoph

Hello, I'm confused how I can access the drive cycle and other similarly stored parameters. For instance, the Constant block contains DrCycles.US06. How do I access and view the data stored in US06? Normally I would look in the Matlab workspace but I don't see it.

salutations, je veux exploiter le modèle de véhicule électrique à batterie (BEV), mais je n'ai pas compris comment ils ont modelisé chaque bloc. est ce qu'il ya un ecrit explicatif de ce modele? merci.
cordialement.
Said Belhadj.

i dont have matlab 2018 latest version. I am using Matlab 2017 b Can you please export this to my version?

Amr ESMAEIL

Thanks for sharing such nice model.
One minor note on engine rotational speed calculation in the conventional model (version 3.0):
inside the driveline subsystem, it is calculating omega by dividing Velocity [mph] by wheel radius [m], the velocity shall be converted from mph to mps before division.

Hi Vasudevan. If you are looking to convert a current model into an older version, we already have an answer on MATLAB Answers: https://www.mathworks.com/matlabcentral/answers/94724-how-can-i-open-my-current-simulink-models-in-previous-versions-of-simulink
I would also encourage you to upgrade to the latest release.

I downloaded the models but when I open them, the Canvas interface shows me the next error:
"Failed to load library 'Driver_Glider_Library' "
Can anyone help ?
Thanks

Hi, is it possible to release the files in an earlier version of MATLAB? Maybe r2015a? Thanks!

how can i run this models with matlab 2016 a version ? it gives me an error because this models were created with different version.

when I run simulation I get errors
Warning: Could not evaluate MaskDisplay commands of block 'PTB_BatteryElectricVehicle/Battery/Datasheet Battery':
Undefined function 'autoicon' for input arguments of type 'char'.

can anyone help??
Thanks

Updates

4.0.0.0

Update model to R2018 and fixed minor bugs.

3.0.0.0

Updated models to R2017b and fixed minor bugs.

2.0.0.0

Added vehicle models that use Powertrain Blockset.
Updated description.

MATLAB Release Compatibility
Created with R2018a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Communities

VehicleModeling4p0/1_Simulink/

VehicleModeling4p0/1_Simulink/BEV/

VehicleModeling4p0/1_Simulink/Conventional/

VehicleModeling4p0/1_Simulink/Glider/

VehicleModeling4p0/2_PowertrainBlockset/