Mathematical modeling of Electric vehicles - A survey

• Published in: Control engineering practice 2019-11, Vol.92, p.104138, Article 104138
• Main Authors: S., Lekshmi, P.S., Lal Priya
• Format: Article
• Language: English
• Subjects: Battery model; Bicycle model; Brake model; Electric vehicle model; Tire model; Wheel dynamics
• ISSN: 0967-0661; 1873-6939
• DOI: 10.1016/j.conengprac.2019.104138

The paper presents a survey of the existing mathematical models of electric vehicles followed by state of the art approaches on modeling hybridization of the energy sources. The mathematical representation of the electric vehicle (EV) ranging from the simple single Degree of Freedom (DOF) models to complex multi-body dynamic models is discussed in detail. Reduced dynamic models applicable to various control design diligence are discussed which facilitates the selection of the optimal model for design. In addition to vehicle dynamics, the paper consolidates dynamic models of the different components of an electric vehicle including the transmission, brake, battery, wheel and tire dynamics. Comparative analysis of different versions of the models for each component is also presented, focusing on their application in controller design. The paper thus acts as a guide for any EV control design requirement, providing optimal models for particular applications. •The paper, first of its kind, summaries existing EV models facilitating control design.•Several vehicular models presented, varying in complexity from bicycle to multibody model.•Various models of each EV physical component compiled together to ease model selection.•A comparative analysis of existing battery & fuel cell models with model description.•The paper can usher EV control designers with apt models that fit design requirements.