IJSTE - International Journal of Science Technology & Engineering | Volume 2 | Issue 12 | June 2016

ISSN (online): 2349-784X

Review on Energy Management System for

Hybrid Vehicle
Zoonubiya Khan Ali
Assistant Professor
Disha Institute of Management & Technology Raipur,
Chhattisgarh

Dr. S. L Badjate
Principal
S.B Jain Institute of Technology, Management & Research
Nagpur, Maharashtra

Dr. R. V Kshirsagar
Principal
Priyadarshini Indira Gandhi College of Engineering, Nagpur, Maharashtra

Abstract
The main issue in the HEVs in the management of power flow between fuel and energy supply system that is responsible for
vehicle motion. The difficulty arises in generating balance between limited energy supply from battery system and the requirement
to minimize fuel consumption and exhaust emissions. It is challenging tasks to satisfy the constraints and the requirement
simultaneously and often tradeoffs have to be made to obtain an optimal solution. The problem is further exaggerated by the desire
of not to have a reduced vehicle performance. Regardless of type of HEV, the performance of the vehicle in terms of fuel economy
and tail pipe emission depends heavily on the selected energy management system which is the topic of interest for many
researchers. In this paper, various energy management system used for hybrid electric vehicle that are proposed and developed in
the recent years are revisited and reviewed.
Keywords: EMS, HEV, Online, Offline, PHEV, Rule Base
________________________________________________________________________________________________________
I.

INTRODUCTION

The main issue in the HEVs in the management of power flow between fuel and energy supply system that is responsible for
vehicle motion. The difficulty arises in generating balance between limited energy supply from battery system and the requirement
to minimize fuel consumption and exhaust emissions. It is challenging tasks to satisfy the constraints and the requirement
simultaneously and often tradeoffs have to be made to obtain an optimal solution. The problem is further exaggerated by the desire
of not to have a reduced vehicle performance. Regardless of type of Hybrid Electric Vehicle (HEV), the performance of the vehicle
in terms of fuel economy and tail pipe emission depends heavily on the selected Energy Management System (EMS) which is the
topic of interest for many researchers. In this paper, various energy management system used for hybrid electric vehicle that are
proposed and developed in the recent years are revisited and reviewed.
II. ENERGY MANAGEMENT SYSTEM FOR HEVS
With the advent in automobile engineering, integration of embedded system and sophistication in programming, the complex
configurations of hybrid vehicles are coming in the market. However, these configurations are inspired from the classical
configurations. The energy management systems are always at the heart of HEvs. These systems are responsible to reduce fuel
consumption and tailpipe emissions. There are two types of EMS based on mode of operation
Online mode of operation
Offline mode of operation
The energy management strategy of hybrid vehicles is to be selected in such a way that it achieves the reduction in fuel
consumption and emission problem. In order to improve the system, the control strategy can provide optimized energy
management. The control strategy is broadly divided in two types rule based strategy and optimal control strategy for both series
and parallel vehicles. Various researchers are using rule based control which is based on human expertise, mathematical and
heuristic information.
Rules based are again categorized in three different types viz: rule based which uses human knowledge for writing rules. Fuzzy
logic based, which have more robust structure and can provide flexibility to controller because of nonlinear structure and can easily
deal with nonlinear problem of power splitting between two sources of controller. The last type of rule based control strategy is
Neuro-Fuzzy this is the combination of fuzzy logic and artificial neuro-fuzzy control.
Whereas the Optimal control strategy is another category which is further subdivides into global optimization (offline) and real
time optimization (online) type control strategy. The optimal strategy is perfect and the controller is optimized according to cost
function of system. But these controllers are sensitive to noise. Here both static and dynamic behaviors have to be taken into
consideration for achieving optimized results.
All rights reserved by www.ijste.org

95

Review on Energy Management System for Hybrid Vehicle

(IJSTE/ Volume 2 / Issue 12 / 019)

III. RULE BASE ENERGY MANAGEMENT SYSTEM STRATEGY

A fuzzy rule based logic based power controller for Parallel Hybrid Vehicle (PHV) was presented by Schouten et al (2002)2 and
Baumann et al (2000)1, their controller optimizes the energy flow between the main components of PHV and optimizes energy
conversion. The simulation results show improvement by using Fuzzy logic over other strategies that optimizes only the ICE.
Another system for improving fuel economy in the form of fuzzy rule-based was proposed by Syed et al (2007)3. The author uses
ADVISOR (Advanced vehicle simulator to observe the performance by adjusting accelerator and brake position to provide
advantageous corrections for fuel efficiency minded driver.
An intelligent controller combining neural networks and fuzzy logic which could adapt to different drivers and drive cycles
(profiles of the required vehicle speed over time) was studied by Baumann et al (1998)4. A neuro controller was employed in a
hybrid electric propulsion system of a small unmanned aerial vehicle which resulted in significant energy saving [Harmon et al
(2005)]5. The references cited above indicate a significant potential for improving HEV performance through more efficient power
management based on application of computational intelligence (CI) techniques. Taking advantages of sequential dynamic
programming (SQP), rule based fuzzy theory, genetic algorithm and dynamic system theory, Zhu et al (2004)6 developed a power
split strategy for hybrid power train.
ANFIS (adaptive neuro-fuzzy inference system) integrate the best features of fuzzy logic and neural network and so it has
attracted the interest of researchers to synthesis controllers and to develop the models to explain past data and predict future
behavior. ANFIS based online SOC (State of Charge) correction considering cell divergence for the EV (electric vehicle) traction
batteries is developed by Dai et.al (2014)7. To indicate the actual charging level of the battery, the State of Charge (SOC) is often
used. The control strategy involves the calculation of various parameters including battery SOC. Battery state of charge indicator
(SOC) is used for both online and off-line type control strategy. A study was proposed to solve the common problem of SOC of
not considering the difference among individual cells. They consider the whole battery pack as an averaged cell and thus employ
the averaged SOC as the state of charge of the pack to increase the life of battery by avoiding over charging or over discharging of
battery. They used kalman filtering based estimator for determining the averaged SOC and then using ANFIS or correcting it online
with the information of cell differences and loading current which was trained offline. Their result overcome the traditional SOC
estimators caused by cell-to-cell variations in a battery pack and is more reasonable and can provide more sufficient and accurate
information to the vehicle energy management strategy.
As the power source, battery plays an important role in EV systems, and recently, Lithium-ion batteries have been widely
adopted in EV systems due to their high energy and power density, low self-discharge, high energy efficiency and long service life
and lot more advantages.
To achieve promising solutions for worldwide environmental problems, battery management strategy is also one important
algorithm to look for development in HEV. One of the most significant of battery management strategy is to estimate the SOC
since batteries are sensitive to overcharge which can definitely results in irreversible damages [Kang et al. (2014)8 , Lu et al (2013)9,
Dai et al (2013)10] so SOC correction measures are also done during charging and discharging.
ANFIS is used to optimize the performance of hybrid vehicle [Jijo (2009)]11 compares the dynamics of hybrid vehicle with real
time data to remove the drawbacks of normal PI vehicles by intelligent adaptive neuro- fuzzy controller. An Adaptive Neuro-Fuzzy
Inference systems (ANFIS) controller performs better for variable load condition is used to control the speed of the IC Engine.
One such approach is comparison of two real time predictive strategies for the optimal energy management of hybrid electric
vehicle has studied by Beck et al (2006). Two strategies were used to solve optimization problem depends on predictive information
about the driving conditions within defined future time to achieve minimum fuel consumption. Their work focuses on use of
improved numerical algorithm incorporate information about future drive conditions for a limited time horizon. Both strategies
have been tested in two different drive cycles and the achieved fuel consumptions were compared to the global minimum found
by a Dynamic Program. Convex optimization is added with Dynamic Programming. [Tobias et al (2014)]21 presented novel method
to solve the energy management problem for hybrid electric vehicles with engine start and gearshift costs. Dynamic programming
(DP) and convex optimization is used for optimal results in much less time than the conventional DP method. In addition to this
they proposed the method to handles state constraints when the battery state of charge (SOC) reaches its boundaries. Higher
precision is achieved due to descritization of continues control and state variables in convex optimization. Their study shows that
this method can be extended to different formulations of energy management problem to other vehicle topology.
IV. OPTIMAL CONTROL ENERGY MANAGEMENT SYSTEM STRATEGY
Various researches have been carried out by combining various categories stated above for series as well as for parallel. A method
is proposed by Cross (2008)12 for modeling and simulating a series hybrid power train. For fuel efficiency optimization and to
solve the transition mode of vehicle dynamic programming was used. The model was used for testing multiple energy management
strategies. If knowledge of the system is limited, it is apparent that simple logic can improve over the common thermostat control
method by using point control. If efficiency data for the engine and alternator are known, line control methods can be used to
further increase. The optimal on-off solution achieved better efficiency than other on-off control methods efficiency.
Moving towards globally optimized solution for controller few uses dynamic programming for solving splitting problem of the
vehicle. Computational intelligence techniques have previously been applied to HEV power management by various authors.

All rights reserved by www.ijste.org

96

Review on Energy Management System for Hybrid Vehicle

(IJSTE/ Volume 2 / Issue 12 / 019)

Genetic algorithm is applied to the simultaneous optimization of parameters. The simulation results shows effectiveness and
applicability of the proposed method. The genetic fuzzy based control strategy is used to split the power sources by Montazeri,
(2008) with the same objective of minimizing fuel consumption and emission problem. The fuzzy logic controller Baumann et al
(2000), Cerrutto et al (1994)15, Salman et al (2002)17,Schouten et al (2002)17(2003)18 , Won et al (2005)19 , Farrall et al (1993)20, is
tuned by genetic algorithm for three different cycles and achieved the stated aim without sacrificing the performance of vehicle.
An optimized study on energy management strategy for plug in hybrid vehicle is proposed by Yiming et al (2009)27 for predicted
speed profile, further they analyze the issues of real time control for model HEV by including optimization window sizes and
impact of prediction errors on the energy optimization strategy performance. This strategy is unique because it uses changeable
equivalence factors, which is more applicable for online real time power management. For total travel length, different driving
cycles and for different operating modes, best optimization time window sizes were identified, validated and achieved
improvements in fuel consumption. Important issues related to real life implementation were discussed.
V. VARIOUS ANN MODEL FOR HYBRID VEHICLES
Real time control strategy based of Elman neural network for the parallel hybrid electric vehicle is used by Liu et al (2014)22 , their
work discuss about equivalent fuel consumption function under charging and discharging conditions of batteries. The instantaneous
control strategy and Elman neural network were simulated and analyzed in ADVISOR. Results prove 96% reduce simulation time
and improve the real time performance of controller in addition with good performance of power and fuel economy.
In another work modeling, analysis, and simulation of an electric vehicle (EV) with two independent rear wheel drives is done.
Generalized neural network algorithm is proposed to estimate the vehicle speed. A neural network traction control approach of an
electrical differential system for an EV propelled by two induction motor drives is stated. A practical speed estimation method for
an induction motor is proposed where a recurrent neural network (RNN) with two hidden layers is used. RNN used is called the
Elman neural network. This algorithm is used to improve EV steering and stability during trajectory changes.
Multi-Perceptron Neural Network is trained using Resilient Back Propagation algorithm to predict the suitable mode among
between Only motor mode , only engine mode ,engine plus motor mode, charging mode and regenerative mode. The network
trained to an error of 0.005 in 1300 iterations. After prediction of mode is done, the battery SOC (state of charge) is calculated. For
energy optimization of hybrid algorithm shows 17.4% improvement in fuel consumption results. This hybrid algorithm can be
used for both on line and online.
Bhatikar (1999)23 demonstrates the work energy storage system modeling based on neural network. The model maps the
systems state-of-charge (SOC) and the vehicles power requirement to the bus voltage and current. Work proposes and deploys
new technique Smart Select for designing neural network training data. When validated its predictive accuracy, measured by Rsquared error, was 0.97. The energy storage model using neural network simulated in Matlab environment model. The results of
an ESS simulation with the ANN incorporated in ADVISOR shows the results of a matching ESS simulation with the original
ADVISOR algorithm.
In one approach a neural network based trip model for highway portion was explained by Gong (2009)24. 3 inputs, 2 outputs
network was developed for the fitting of the driving pattern on highway near on/off ramps. The trained neural network can obtain
a good fitting of the driving pattern. The simplified approach makes the trip model on highway much easier. The interpolation
model with NN is used and the fuel economy is greatly improved. The NN model presents a simplified and effective way for this
detailed model of trip model considering the on/off ramp flows.
A new energy management system is proposed by Khayyam et al (2014)24 to improve the vehicle efficiency using a backwardsforwards simulation similar to the technique employed by ADVISOR Khayyam et al (2011)25, Wipke (1999)26. Models of vehicle
engine, air conditioning, powertrain, and hybrid electric drive system were developed. Model for Road geometry and thermal
conditions were also developed. Due to the nonlinear and complex nature of the interactions between PHEV Environment Driver
components, a soft computing based intelligent management system is developed using different fuzzy logic controllers. Applying
a hybrid multi-layer adaptive neuro-fuzzy inference system and optimized using genetic algorithm is capable of improving the fuel
efficiency of the vehicle.
VI. CONCLUSION
In recent years HEV has come up as a lucrative and efficient solution for speedily depleting fossil fuels and global warming.
However an adaptive and intelligent technology is necessary to tap the advantages from the hybrid vehicles.EMS for HEV has to
be very adaptive and flexible. In view of this it is necessary to consider behavior of system as well as the user of the system. Hence,
while developing EMS due consideration should be given to understand driving conditions, behavior of driver, atmospheric
condition, parameters of vehicle etc. The rule base EMS is the first choice of the researchers due to its abilities to deal with
incomplete and uncertainty of operating conditions. Hence fuzzy logic based controller which utilizes prerecorded data base can
be an effective tool to design.

All rights reserved by www.ijste.org

97

Review on Energy Management System for Hybrid Vehicle

(IJSTE/ Volume 2 / Issue 12 / 019)

REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
[7]

[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19]
[20]
[21]
[22]
[23]
[24]

[25]
[26]
[27]
[28]

Baumann, B.M., Washington, G., Glenn, B.C. and Rizzoni,G., (2000), Mechatronic Design and Control of Hybrid Electric Vehicles, IEEE/ASME
Transactions On Mechatronics, Vol. 5, No. 1, March 2000
Schouten, N. J., Salman, M. A., Kheir, N. A.(2002), Fuzzy Logic Control for Parallel Hybrid Vehicles, IEEE Transactions on Control Systems Technology,
Vol.10, No. 3, pp 460-468
Syed, F., Filev, D., and Ying, H. (2007), A rule-based fuzzy driver advisory system for fuel economy improvement in a hybrid electric vehicle. Proceedings
of North American fuzzy information processing society conference, pp 178183
Baumann, B., Rizzoni, G., Washington, G. (1998), Intelligent Control of Hybrid Vehicles Using Neural Networks and Fuzzy Logic, International Congress
and Exposition, Detroit, Michigan, pp 1-11
Harmon, F., Frank, A., & Joshi, S. (2005), the control of a parallel hybridelectric propulsion system for a small unmanned aerial vehicle using a cmac neural
network. Neural Networks, 18(June/July), pp 772780
Yuan Zhu, Yaobin Chen, Guangyu Tian, Hao Wu, Quanshi Chen, A Four-Step Method to Design an Energy Management Strategy for Hybrid Vehicles,
Proceeding of the 2004 American Control Conference Boston. Massachusetts June 30 -July 2,2004
Haifeng Dai, Pingjing Guo, Xuezhe Wei , Zechang Sun , Jiayuan Wang. ANFIS (adaptive neuro-fuzzy inference system) based online SOC (State of Charge)
correction considering cell divergence for the EV (electric vehicle) traction batteries. Energy 80 (2015) 350-360
http://dx.doi.org/10.1016/j.energy.2014.11.077
Kang Jianqiang, Yan Fuwu, Zhang Pei, Du Changqing. Comparison of comprehensive properties of Ni-MH (nickel-metal hydride) and Li-ion (lithium-ion)
batteries in terms of energy efficiency. Energy 2014;70:618-25
Lu Languang, Han Xuebing, Li Jianqiu, Hu Jianfeng, Ouyang Minggao. A review on the key issues for lithium-ion battery management in electric vehicles.
J Power Sources 2013;226:272-88
Dai Haifeng, Zhang Xiaolong, Wei Xuezhe, Sun Zechang, Wang Jiayuan, Hu Feng. Cell-BMS validation with a hardware-in-the-loop simulation of lithiumion battery cells for electric vehicles. Int J Electr Power Energy Syst 2013;52:174-84
J. Balakrishnan, Indulal. S., Adaptive Neuro-Fuzzy Control of Internal Combustion Engine for Hybrid Electric Vehicle, 10th National Conference on
Technological Trends (NCTT09), 6-7 Nov 2009.
Patrick Wilson Cross System modeling and energy management strategy development for series hybrid vehicles, A Thesis Presented to The Academic
Faculty Georgia Institute of Technology August 2008
A. Poursamad and M. Montazeri, Design of genetic-fuzzy control strategy for parallel hybrid electric vehicles, Control Engineering Practice, vol. 16, no.
7, pp. 861873, 2008
Baumann, B.M., Washington, G., Glenn, B.C. and Rizzoni,G., (2000), Mechatronic Design and Control of Hybrid Electric Vehicles, IEEE/ASME
Transactions On Mechatronics, Vol. 5, No. 1, March 2000
Cerruto, E., Consoli, A., Raciti A. and Testa, A. (1994) `Energy flows management in hybrid vehicles by fuzzy logic controller', 7th Mediterranean Conference
on Electrotechnical, pp.1314 1317.
Schouten, N. J., Salman, M. A., Kheir, N. A.(2002), Fuzzy Logic Control for Parallel Hybrid Vehicles, IEEE Transactions on Control Systems Technology,
Vol.10, No. 3, pp 460-468.
Schouten, N. J., Salman, M. A., Kheir, N. A.(2002), Fuzzy Logic Control for Parallel Hybrid Vehicles, IEEE Transactions on Control Systems Technology,
Vol.10, No. 3, pp 460-468.
Schouten, N.J. salman , M.A Kheir, N.A 2003, Fuzzy Logic Control for Parallel hybrid Vehicles, IEEE transactions on Control sytems Technology, vol 10,
issue 3, May 2003 pp 460-468
Langari R,Won J-S (2005) Intelligent energy management agent for parallel hybrid vehicle-part I:system architecture and design of the driving situation
indentification process, IEEE trans Veh Technol 54(3)
S.D Farrall and R.P Jones (1993) Energy management in an automotive electric/heat engines hybrid powertrain using fuzzy decision making ,in proceedings
of the International Symposium on Intelligent Control,PP-463-468
Tobias Nuesch, Philipp Elbert, Michael Flankl, Christopher Onder and Lino Guzzella, Convex Optimization for the Energy Management of Hybrid Electric
Vehicles Considering Engine Start and Gearshift Costs, Energies 2014, 7, 834-856; doi:10.3390/en7020834
Zhang Y, Liu H,Guo Q. Varying domain optimal management strategy for parallel hybrid electric vehicles. IEEE Trans Veh Technol 2014;63:60316.
Bhatikar, S. R., Artificial Neural Network Base Energy Storage System Modeling for Hybrid Electric Vehicles, MS Thesis, University of Colorado at Boulder,
1999.
Qiuming Gong, Yaoyu Li, Member, IEEE, and Zhongren Peng, Power Management of Plug-in Hybrid Electric Vehicles Using Neural Network Based Trip
Modeling, 2009 American Control Conference Hyatt Regency Riverfront, St. Louis, MO, USA June 10-12, 2009, 978-1-4244-4524-0/09/$25.00 2009
AACC
Khayyam H, Bab-Hadiashar A, Adaptive intelligent energy management system of plug-in hybrid electric vehicle, Energy (2014), http: //dx.doi.org/
10.1016/j.energy.2014.03.020
Khayyam H, Kouzani AZ, Hu EJ, Nahavandi S. Coordinated energy management of vehicle air conditioning system. Appl Therm Eng 2011;31:750-64
K.B. Wipke, M.R. Cuddy, and S.D. Burch ADVISOR 2.1(1999) A User-Friendly Advanced Powertrain Simulation Using a Combined Backward/Forward
Approach, IEEE Transactions onVehicular Technology: Special Issues on Hybrid and Electric Vehicles (1999).
Yiming He a, Mashrur Chowdhury a, Pierluigi Pisu b, Yongchang Mac(2012), An energy optimization strategy for power-split drivetrain plug-in,
Transportation Research Part C 22 (2012) 2941

All rights reserved by www.ijste.org

98