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Mathematical Problems in Engineering
Volume 2015, Article ID 238264, 20 pages
Research Article

A Novel Nonlinear Optimal Control Approach for the Dynamic Process of a Hybrid Electric Vehicle Equipped with Electromechanical Transmission

1School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
2Department of Automotive Engineering, Tsinghua University, Beijing 100084, China

Received 18 December 2014; Revised 10 May 2015; Accepted 11 May 2015

Academic Editor: Asier Ibeas

Copyright © 2015 Changle Xiang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Coordinatively controlling the engine and several motor/generators (MGs) during a dynamic process is a challenging problem because they are coupled together by the electromechanical transmission (EMT) system and all of them have strong nonlinear characteristics. We develop a novel nonlinear optimal control approach based on the multiobjective dynamic optimization model of the hybrid electric vehicle (HEV), which is equipped with an EMT system. In this approach, the current states of the components are obtained by using the state observation algorithm based on Kalman filtering; the future states of the components and the feasible region of the control variables are estimated by using the dynamic prediction algorithm based on the nonlinear model of the EMT system. Then, the control variables are achieved by using the optimal decision algorithm based on the hierarchical optimization and nonlinear programming, and the influence of the model error and the external disturbance are modified by using the feedback compensation algorithm. The simulation results illustrate the efficiency of the proposed control approach, and the test results verify its real-time performance.