Chapter 2:Fundamentals of Automotive

Propulsion System
Vehicle Dynamics

1
Vehicle Load Forces
Main load forces are
(1) aerodynamic drag FD,
(2) rolling resistance FR
(3) climbing resistance FC.

2
Aerodynamic Drag
Aerodynamic drag FD is the resistance of air to the movement of the vehicle.
1
FD =  CD A(v  vair ) 2
2

 is air density, CD is the aerodynamic drag coefficient, A is the cross-sectional

area of the vehicle, v is the vehicle speed, and vair is the wind speed. Net air velocity
is (v+vair)for headwind and (v-vair) for tailwind.
drag power PD = FD v  v 3
drag energy ED = FD s  v 2

3
Aerodynamic Drag
Example: Aerodynamic drag

(or s = Eb / FD )

4
Aerodynamic Drag

(or s = Eb / FD )

5
Rolling Resistance

FR = CR mg cos 

Example: Rolling resistance

6
Vehicle Road-Load Coefficient from Coast-Down Testing

7
Vehicle Road-Load Coefficient from Coast-Down Testing

Fv = A + Bv + Cv 2
Pv = Fv v = Av + Bv 2 + Cv 3

8
Vehicle Road-Load Coefficient from Coast-Down Testing
E P
Fuel Consumption FC = =
s v

9
Vehicle Road-Load Coefficient from Coast-Down Testing
Example: BEV Range estimation
Estimate the range of the
Tesla Model S at 120
km/h if the available
battery energy is 90 kWh
and the efficiency of the
powertrain from the
battery to the transmission
is 85%.

10
Vehicle Road-Load Coefficient from Coast-Down Testing
Example: BEV Range estimation (cont.)

11
Vehicle Road-Load Coefficient from Coast-Down Testing
Example: BEV Range estimation (cont.)

12
Climbing Resistance - Gradability

FC = mg sin 

Grade = tan  100%

13
Climbing Resistance - Gradability
Example: Climbing Resistance

14
Vehicle Acceleration
dv
accelerating force Fa = ma = m
dt
motive force Fm = Fa + Fv + Fc
Fv = A + Bv + Cv 2 , Fc = mg sin 
dv
Fm = m + A + Bv + Cv 2 + mg sin 
dt
motive torqueTm = Fm r
Taxle = Tm + J axle axle
d axle 1 dv
J axle ,  axle = = : drive − axle moment of inertia and acceleration
dt r dt
Traction torque Tt = Taxle / ng g
r  J axle  dv 2
=  m +  + ( A + mg sin  ) + Bv + Cv 
ng g  r 2  dt 
ng , g = powertrain gear ratio and efficiency 15
Regenerative Braking (Recuperation)
The energy used to brake or slow down a vehicle in a conventional vehicle is
dissipated as heat in the braking system and lost to the vehicle. An electric vehicle
can capture or regenerate the energy and store it on the vehicle.
The traction motor can develop a negative torque against the rotating direction which
reverses the flow of power such that the kinetic energy of the vehicle is converted to
negative mechanical power on the rotor shaft, and subsequently converted to
electrical power by the machine, which is used to recharge the battery.

16
Regenerative Braking (Recuperation)

Gear losses
Motoring: Axle torque Taxle = ng gTt always act
against vehicle
Regenerating: Axle torque Taxle = ngTt /  g motion.
17
Traction Motor Characteristic (Ideal)

constant torque mode: constant power mode:

Tr = Tr ( rated ) , Tr = Pr / r = Pr ( rated ) / r ,
Pr = Trr = Tr ( rated )r Pr = Pr ( rated )
18
Traction Motor Characteristic
Example: Traction motor rated speed
The rated motor torque and power of the electric motor of the 2015 Nissan Leaf are
254 Nm and 80 kW, respectively. Determine the rated speeds of the electric motor
and vehicle.

19
Traction Motor Characteristic

f r = r / 2 [Hz], N r = 60 f r [rpm]
20
Simplified Equation for Acceleration

time to the rated speed: time from zero to the final speed:
rmvrated rm v 2f + vrated
2

trated = tf = 
ng g Tr ( rated ) ng g Tr ( rated ) 2vrated
For the constant power mode: Energy to the final speed:
v 2f − vrated  
trated + Pr ( rated ) ( t f − trated ) = Pr ( rated )  t f − rated 
rm
2 Pr ( rated ) t
t f − trated =  Ea =
ng g Tr ( rated ) 2vrated 2  2 
21
Simplified Equation for Acceleration
Example: Traction motor rated speed

22
Drive Cycles: Simple Drive Cycle Example

Over the one-hour cycle on a flat road, the vehicle is cruising at 50 km/h for a time
period t1= 1800 s, cruising at 90 km/h for t2 = 1200 s, and in idle mode for t3 = 600
s. Subscripts 1, 2, and 3 will be used for the various parameters during time
intervals t1, t2, and t3, respectively, while subscript C is used for the overall cycle.
23
Simple Drive Cycle Example

24
Standard Drive Cycles
A drive cycle is a standardized drive profile which can be used to benchmark
and compare fuel economy and emissions.

New European
Drive Cycle
(NEDC)

World-wide
harmonised
Light duty Test
Cycle (WLTC)

25
Standard Drive Cycles

US Environmental Protection Agency (EPA) Drive Cycles

26
Standard Drive Cycles

27
Operating Areas
Frequency of torque-speed operating points

RDE

28
Drive Cycle Test: Dynamometer

29
Portable Emission Measuring System (PEMS) - RDE

30