Chapter
1.1.2 Part II – The Resurgent Electric Powertrain
1.1.3 Part III – Success at Last for the Electric Powertrain
1.2 Energy Sources for Propulsion and Emissions
1.2.1 Carbon Emissions from Fuels
1.2.1.1 Example: Carbon Dioxide Emissions from the Combustion of Gasoline
1.2.2 Greenhouse Gases and Pollutants
1.2.2.1 The Impact of NOx
1.3 The Advent of Regulations
1.3.1 Regulatory Considerations and Emissions Trends
1.3.2 Heavy-Duty Vehicle Regulations
1.5 BEV Fuel Consumption, Range, and mpge
1.6 Carbon Emissions for Conventional and Electric Powertrains
1.6.1 Well-to-Wheel and Cradle-to-Grave Emissions
1.6.2 Emissions due to the Electrical Grid
1.6.2.1 Example: Determining Electrical Grid Emissions
1.7 An Overview of Conventional, Battery, Hybrid, and Fuel Cell Electric Systems
1.7.1 Conventional IC engine Vehicle
1.7.3.3 Series-Parallel HEV
1.7.5 A Comparison by Efficiency of Conventional, Hybrid, Battery, and Fuel Cell Vehicles
1.7.6 A Case Study Comparison of Conventional, Hybrid, Battery, and Fuel Cell Vehicles
1.8 A Comparison of Automotive and Other Transportation Technologies
Chapter 2 Vehicle Dynamics
2.1.1 Basic Power, Energy, and Speed Relationships
2.1.2.1 Example: Aerodynamic Drag
2.1.2.2 Example: Aerodynamic Drag and Fuel Consumption
2.1.3.1 The Ford Explorer Recall
2.1.3.2 The A-Class Mercedes in the 1990s
2.1.3.3 The Tesla Model S in 2013
2.1.3.4 Example: Rolling Resistance
2.1.4 Vehicle Road-Load Coefficients from EPA Coast-Down Testing
2.1.5 Battery Electric Vehicle Range at Constant Speed
2.1.5.1 Example: Plot of BEV Range Versus Speed
2.1.5.2 Example: Estimate of BEV Range
2.1.5.3 Example: Effect of Auxiliary Loads on Range
2.1.6.1 Example: Downgrade Force and Regeneration
2.2.1 Regenerative Braking of the Vehicle
2.2.2 Traction Motor Characteristics
2.2.2.1 Example: 2015 Nissan Leaf Rated Speed
2.2.3 Acceleration of the Vehicle
2.2.3.1 Time-Step Estimation of Vehicle Speed
2.2.3.2 A Simplified Equation Set for Characterizing Acceleration by Ignoring Load Forces
2.3 Simple Drive Cycle for Vehicle Comparisons
Assignment: Modeling of a BEV
3.1 Introduction to Batteries
3.1.1 Batteries Types and Battery Packs
3.1.1.1 Recent EVs and Battery Chemistries
3.1.2 Basic Battery Operation
3.1.3 Basic Electrochemistry
3.1.3.1 Lead-Acid Battery
3.1.3.2 Nickel-Metal Hydride
3.1.4 Units of Battery Energy Storage
3.1.5.1 Example of the 2011 Nissan Leaf Battery Pack
3.1.6 Battery Parameters and Comparisons
3.2 Lifetime and Sizing Considerations
3.2.1 Examples of Battery Sizing
3.2.1.1 Example: BEV Battery Sizing
3.2.1.2 Example: PHEV Battery Sizing
3.2.2 Battery Pack Discharge Curves and Aging
3.3 Battery Charging, Protection, and Management Systems
3.3.2 Battery Failure and Protection
3.3.3 Battery Management System
3.4.1 A Simple Novel Curve Fit Model for BEV Batteries
3.4.2 Voltage, Current, Resistance, and Efficiency of Battery Pack
3.4.2.1 Example: Determining the Pack Voltage Range for a BEV
3.4.3 A Simple Curve-Fit Model for HEV Batteries
3.4.3.1 Example: Determining the Pack Voltage Range for a HEV
3.4.4.1 Example: Fast Charging a Battery Pack
3.4.5 Determining the Cell/Pack Voltage for a Given Output\Input Power
3.4.5.1 Example: Battery Discharge
3.4.5.2 Example: Battery Charge
3.4.6 Cell Energy and Discharge Rate
3.4.6.1 Example: Cell Capacity
3.5 Example: The Fuel Economy of a BEV Vehicle with a Fixed Gear Ratio
Appendix: A Simplified Curve-Fit Model for BEV Batteries
4.1 Introduction to Fuel Cells
4.1.1 Fuel Cell Vehicle Emissions and Upstream Emissions
4.1.2 Hydrogen Safety Factors
4.2.1 Fuel Cell Model and Cell Voltage
4.2.1.1 Example: No-Load and Load Voltages of a PEM Fuel Cell
4.2.2 Power and Efficiency of Fuel Cell and Fuel Cell Power Plant System
4.2.2.1 Example: Full-Load Power and Efficiency of PEM Fuel Cell Stack
4.2.3 Fuel Cell Characteristic Curves
4.3 Sizing the Fuel Cell Plant
4.3.1 Example: Sizing a Fuel Cell
4.3.4 Boost DC-DC Converter
4.5 Example: Sizing Fuel Cell System for Heavy Goods Tractor–Trailer Combination
4.6 Example: Fuel Economy of Fuel Cell Electric Vehicle
Chapter 5 Conventional and Hybrid Powertrains
5.2 Brake Specific Fuel Consumption
5.2.1 Example: Energy Consumption, Power Output, Efficiency, and BSFC
5.3 Comparative Examples of Conventional, Series, and Series-Parallel Hybrid Systems
5.3.1 Example: Fuel Economy of IC Engine Vehicle with Gasoline or Diesel Engine
5.3.2 Example: Fuel Economy of Series HEV
5.3.3 Example: Fuel Economy of Series-Parallel HEV
5.3.4 Summary of Comparisons
5.4 The Planetary Gears as a Power-Split Device
5.4.1 Powertrain of 2004 Toyota Prius
5.4.2 Example: CVT Operating in Electric Drive Mode (Vehicle Launch and Low Speeds)
5.4.3 Example: CVT Operating in Full-Power Mode
5.4.4 Example: CVT Operating in Cruising and Generating Mode
Part 2 Electrical Machines
Chapter 6 Introduction to Traction Machines
6.1 Propulsion Machine Overview
6.1.3 Comparison of Traction Machines
6.1.4 Case Study – Mars Rover Traction Motor
6.2 Machine Specifications
6.2.1 Four-Quadrant Operation
6.2.4 Rated and Base Speeds
6.3 Characteristic Curves of a Machine
6.3.1 Constant-Torque Mode
6.3.2 Constant-Power Mode
6.4 Conversion Factors of Machine Units
Chapter 7 The Brushed DC Machine
7.2 DC Machine Electrical Equivalent Circuit
7.3 DC Machine Circuit Equations
7.3.1 No-Load Spinning Loss
7.4 Power, Losses, and Efficiency in the PM DC Machine
7.5 Machine Control using Power Electronics
7.5.1 Example: Motoring using a PM DC Machine
7.6 Machine Operating as a Motor or Generator in Forward or Reverse Modes
7.6.1 Example: Generating/Braking using a PM DC Machine
7.6.2 Example: Motoring in Reverse
7.7 Saturation and Armature Reaction
7.7.1 Example: Motoring using PM DC Machine and Machine Saturation
7.8 Using PM DC Machine for EV Powertrain
7.8.1 Example: Maximum Speeds using PM DC Machine
7.9 Using WF DC Machine for EV Powertrain
7.9.1 Example: Motoring using WF DC Machine
7.10 Case Study – Mars Rover Traction Machine
7.11 Thermal Characteristics of Machine
7.11.1 Example of Steady-State Temperature Rise
7.11.2 Transient Temperature Rise
7.11.3 Example of Transient Temperature Rise
Chapter 8 Induction Machines
8.1 Stator Windings and the Spinning Magnetic Field
8.1.1 Stator Magnetic Flux Density
8.1.2 Space-Vector Current and the Rotating Magnetic Field
8.2 Induction Machine Rotor Voltage, Current, and Torque
8.2.2 Induction Machine Theory of Operation
8.3 Machine Model and Steady-State Operation
8.3.1 Power in Three-Phase Induction Machine
8.3.2 Torque in Three-Phase Induction Machine
8.3.3 Phasor Analysis of Induction Motor
8.3.4 Machine Operation When Supplied by Current Source
8.3.4.1 Example: Motoring at Rated Speed using Induction Machine
8.3.4.2 Example: Motoring at Rated Speed using Induction Machine – Ignoring Leakage
8.3.4.3 Example: Generating at Rated Speed using Induction Machine
8.4 Variable-Speed Operation of Induction Machine
8.4.1 Constant Volts per hertz Operation
8.4.1.1 Example: Maintaining a Constant Volts per Hertz
8.4.2 Variable-Speed Operation
8.4.2.1 Example: Field-Weakened Motoring at Twice the Rated Speed using Induction Machine
8.4.2.2 Example: Stall/Start-Up using Induction Machine
8.4.2.3 Effects of Rotor Heating
Chapter 9 Surface-Permanent-Magnet AC Machines
9.1 Basic Operation of SPM Machines
9.1.1 Back EMF of a Single Coil
9.1.2 Back EMF of Single Phase
9.1.2.1 The Experimental Back EMF
9.1.2.2 Distributed Winding
9.1.3 SPM Machine Equations
9.1.3.1 Example: Phase Voltage of SPM Machine
9.2 Per-Phase Analysis of SPM Machine
9.2.1 Per-Phase Equivalent Circuit Model for SPM Machine
9.2.2 Phasor Analysis of SPM Machine
9.2.2.1 Example: Motoring using SPM Machine
9.2.3.1 Example: Motoring using SPM Machine
9.2.4 SPM Torque–Speed Characteristics
9.2.4.1 Example: Determining No-Load Speed
9.2.5 High-Speed Operation of SPM Machine above Rated Speed
9.2.6 Machine Characteristics for Field-Weakened Operation
Chapter 10 Interior-Permanent-Magnet AC Machine
10.1 Machine Structure and Torque Equations
10.2 d- and q-Axis Inductances
10.2.1 Example: Estimating the d-axis and q-axis Inductances for 2004 Toyota Prius Motor
10.4 Basic Theory and Low-Speed Operation
10.4.1 Example: Motoring at Rated Condition
10.4.2 Maximum Torque per Ampere (MTPA)
10.4.3 Maximum Torque per Volt (MTPV) or Maximum Torque per Flux (MTPF)
10.5 High-Speed Operation of IPM Machine
10.5.1 Example: Motoring at High Speed using IPM Machine
10.6 dq Modeling of Machines
10.6.1 Constant Current Transformation
10.6.2 Constant Power Transformation
Chapter 11 DC-DC Converters
11.2 Power Conversion – Common and Basic Principles
11.2.1 The Basic Topologies
11.2.2 The Half-Bridge Buck-Boost Bidirectional Converter
11.3 The Buck or Step-Down Converter
11.3.1 Analysis of Voltage Gain of Buck Converter in CCM
11.3.1.1 Analysis of Buck Converter in CCM
11.3.1.2 Determining Low-Voltage Capacitor RMS Current
11.3.1.3 Capacitor Voltages
11.3.1.4 Example: Designing Buck Converter for CCM Operation
11.3.2 BCM Operation of Buck Converter
11.3.2.1 Example of Buck in BCM
11.3.3 DCM Operation of Buck Converter
11.3.3.1 Example: Buck Converter in DCM Operation
11.4 The Boost or Step-up Converter
11.4.1 Analysis of Voltage Gain of Boost Converter in CCM
11.4.1.1 Analysis of Boost Converter in CCM
11.4.1.2 Example: Analyzing Boost for CCM Operation
11.4.2 BCM Operation of Boost Converter
11.4.2.1 Example: Boost Converter in BCM
11.4.3 DCM Operation of Boost Converter
11.4.3.1 Example: Boost Converter in DCM Operation
11.5 Power Semiconductors
11.5.1 Power Semiconductor Power Loss
11.5.1.1 Conduction Losses of IGBT and Diode
11.5.1.2 Example: Boost IGBT Conduction Losses
11.5.1.3 Switching Losses of IGBT and Diode
11.5.1.4 Example: Switching Losses of IGBT Module
11.5.2 Total Semiconductor Power Loss and Junction Temperature
11.5.2.1 Example: Total IGBT Module Loss and Die Temperatures
11.6 Passive Components for Power Converters
11.6.1 Example: Inductor Sizing
11.6.2.1 Example: Capacitor Sizing
11.7.1 Example: Two-Phase Interleaved Boost Converter
Appendix II: Buck-Boost Converter
Chapter 12 Isolated DC-DC Converters
12.1.1 Advantages of Isolated Power Converters
12.1.2 Power Converter Families
12.2 The Forward Converter
12.2.1 CCM Currents in Forward Converter
12.2.1.1 Example: Current Ratings in Medium-Power Forward Converter
12.2.2 CCM Voltages in Forward Converter
12.2.2.1 Example: Voltage Ratings in a Medium-Power Forward Converter
12.2.3 Sizing the Transformer
12.2.3.1 Example: AP of a Forward Converter Transformer
12.3 The Full-Bridge Converter
12.3.1 Operation of Hard-Switched Full-Bridge Converter
12.3.2 CCM Currents in Full-Bridge Converter
12.3.2.1 Example: Current Ratings in a Medium-Power Full-Bridge Converter
12.3.3 CCM Voltages in the Full-Bridge Converter
12.3.3.1 Example: Voltage Ratings in a Full-Bridge Converter
12.4 Resonant Power Conversion
12.4.1 LCLC Series-Parallel Resonant Converter
12.4.2 Desirable Converter Characteristics for Inductive Charging
12.4.2.1 Basic Converter Operation
12.4.2.2 Design Considerations
12.4.3 Fundamental-Mode Analysis and Current-Source Operation
Appendix I: RMS and Average Values of Ramp and Step Waveforms
Appendix II: Flyback Converter
Chapter 13 Traction Drives and Three-Phase Inverters
13.1 Three-Phase Inverters
13.2.1 Sinusoidal Modulation
13.2.2 Sinusoidal Modulation with Third Harmonic Addition
13.2.3 Overmodulation and Square Wave
13.2.3.1 Example: AC Voltages Available from DC Link
13.3 Sinusoidal Modulation
13.3.1 Modulation Index m
13.3.3 Switch, Diode, and Input Average Currents
13.3.4 Switch, Diode, DC Link, and Input Capacitor RMS Currents
13.3.5 Example: Inverter Currents
13.4.1 Conduction Loss of IGBT and Diode
13.4.2 Switching Loss of IGBT Module
13.4.2.1 Example: Power Losses of Power Semiconductor Module
13.4.3 Total Semiconductor Power Loss and Junction Temperature
13.4.4 Example: Regenerative Currents
Chapter 14 Battery Charging
14.1 Basic Requirements for Charging System
14.2 Charger Architectures
14.3 Grid Voltages, Frequencies, and Wiring
14.4.1 Real Power, Apparent Power, and Power Factor
14.5 Charging Standards and Technologies
14.6 The Boost Converter for Power Factor Correction
14.6.1 The Boost PFC Power Stage
14.6.2 Sizing the Boost Inductor
14.6.2.1 Example: Sizing the Inductor
14.6.3 Average Currents in the Rectifier
14.6.3.1 Example: Input Rectifier Power Loss
14.6.4 Switch and Diode Average Currents
14.6.5 Switch, Diode, and Capacitor RMS Currents
14.6.6 Power Semiconductors for Charging
14.6.6.1 Example: Silicon MOSFET and SiC Diode Power Losses
14.6.6.2 Example: PFC Stage Losses
Chapter 15 Control of the Electric Drive
15.1 Introduction to Control
15.1.1 Feedback Controller Design Approach
15.2 Modeling the Electromechanical System
15.2.1 The Mechanical System
15.2.3 The DC-DC Power Converter
15.3 Designing Torque Loop Compensation
15.3.1 Example: Determining Compensator Gain Coefficients for Torque Loop
15.4 Designing Speed Control Loop Compensation
15.4.1 Example: Determining Compensator Gain Coefficients for Speed Loop
15.5 Acceleration of Battery Electric Vehicle (BEV) using PM DC Machine
15.6 Acceleration of BEV using WF DC Machine
Assignment and Sample MATLAB Codes
Chapter 16 Introduction to Electromagnetism, Ferromagnetism, and Electromechanical Energy Conversion
16.1.1 Maxwell´s Equations
16.1.1.1 Ampere´s Circuital Law (Based on Ampere–Maxwell Law)
16.1.1.2 Right Hand Screw Rule: Direction of Magnetic Flux
16.1.1.3 Magnetic Flux Density Vector (B)
16.1.1.5 Gauss´ Law for Magnetism
16.2.1 Magnetism and Hysteresis
16.2.2 Hard and Soft Ferromagnetic Materials
16.2.2.1 Soft Ferromagnetic Materials
16.2.2.2 A Review of Commonly Used Soft Ferromagnetic Materials
16.3.1 Basic Inductor Operation
16.3.2 Inductor Equations
16.3.2.1 Example: A Gapped Inductor
16.3.2.2 Inductance Variation with Magnetization Curve
16.3.3.1 Example: A Gapless Inductor
16.3.3.2 Reluctance of Gapped Magnetic Structures
16.3.3.3 Example: Reluctances of Gapped Inductor
16.3.4 Energy Stored in Magnetic Field
16.3.4.1 Example: Inductor Energy Storage
16.3.5.2 Eddy Current Loss
16.3.5.4 Example: Core Loss
16.3.5.5 Core Loss Equivalent Parallel Resistance
16.3.6.1 Copper Loss of Wire
16.3.6.2 Example: Copper Loss
16.3.6.3 Copper Loss of CC Core with Helical Winding
16.3.6.4 Example: MLT of Winding
16.3.7 Inductor Sizing using Area Product
16.3.8 High-Frequency Operation and Skin Depth
16.4 Hard Ferromagnetic Materials and Permanent Magnets
16.4.1 Example: Remanent Flux Density
16.4.2 Example: The Recoil Line
16.4.3 Example: Air Gap Flux Density due to a Permanent Magnet
16.4.4 Maximum Energy Product
16.4.5 Force due to Permanent Magnet
16.4.5.1 Example: Lifting Force of Magnet with no Gap
16.4.5.2 Example: Lifting Force of Magnet with Gap
16.4.6.1 Example: Air Gap Flux Density due to Field Winding
16.5.1 Theory of Operation
16.5.2 Transformer Equivalent Circuit
16.5.3 Transformer Voltages and Currents
16.5.3.1 Exciting the Transformer with Sinusoidal Wave
16.5.3.2 Example: Induction Machine Magnetizing Current
16.5.3.3 Exciting the Transformer with a Square Wave Voltage
16.5.3.4 Example: High-Frequency Transformer
16.5.4 Sizing the Transformer using the Area-Product (AP) Method
16.6.1 Sizing Polypropylene High-Voltage Capacitor
16.7 Electromechanical Energy Conversion
16.7.1 Ampere´s Force Law
16.7.1.1 Fleming´s Left Hand Rule
16.7.2 General Expression for Torque on Current-Carrying Coil
16.7.3 Torque, Flux Linkage, and Current
16.7.4 Faraday´s Law of Electromagnetic Induction
16.7.5 Lenz´s Law and Fleming´s Right Hand Rule
Reference Conversion Table
Electric Powertrain
：Energy Systems, Power Electronics & Drives for Hybrid, Electric & Fuel Cell Vehicles
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