A Novel Coordinated Control Strategy for Parallel Hybrid Electric Vehicles during Clutch Slipping Process
, Cheng Wang 1, Youning Qin 1, Xiaohu Lin 1, Jingxuan Zhu 1, Xiaodong Sun 2,* and Tiandong Huang 3
Round 1
Reviewer 1 Report
The manuscript presents research related to improving the performance of hybrid electric vehicles using a parallel drive system. On the basis of analytical dependencies, a model of the system was developed, with which optimization procedures were carried out to achieve the desired quality of the car's drive. To achieve this goal, the paper proposes a new control strategy to coordinate the motor and motor during the clutch slip process. A sliding mode based on a group-preserving scheme is used to control the motor. The advantages of the developed control are shown through numerical experiments. I have no significant comments, except for the following comments:
- it would be useful, in addition to the advantages in the conclusion section, for the authors to comment on the disadvantages of the proposed management strategy. In this way, a complete picture of its qualities, capabilities and application limitations will be obtained;
- as many symbols and abbreviations are used in the text, I recommend authors to add a list of used symbols at the beginning or end of the manuscript;
- I recommend reviewing the formatting of the manuscript and the quality of the figures;
- if possible, the authors could also consider the economic effect of the new management strategy - for example, energy saving and so on.
Author Response
The manuscript presents research related to improving the performance of hybrid electric vehicles using a parallel drive system. On the basis of analytical dependencies, a model of the system was developed, with which optimization procedures were carried out to achieve the desired quality of the car's drive. To achieve this goal, the paper proposes a new control strategy to coordinate the motor and motor during the clutch slip process. A sliding mode based on a group-preserving scheme is used to control the motor. The advantages of the developed control are shown through numerical experiments. I have no significant comments, except for the following comments:
- it would be useful, in addition to the advantages in the conclusion section, for the authors to comment on the disadvantages of the proposed management strategy. In this way, a complete picture of its qualities, capabilities and application limitations will be obtained;
Response: Thank you for your advice. The proposed strategy is combined with the motor control and engine control, taking both torque disturbances and model uncertainty into account. Based on GP-SMC method, a suitable controller for motor is designed to reduce torque interruption. The dynamic differential equations of the vehicle are constructed by means of the sliding surface with the Lagrange function, and the solutions with an accuracy of O (h4) are obtained by using the Runge-Kutta method. Meanwhile, an adaptive PI controller is constructed to adjust the engine speed to reduce speed difference of the clutch during slipping process. The vehicle driving comfort and reliability have been improved significantly. Although the complexity of the algorithm increases, it is still acceptable. Hence, the proposed coordinated control strategy helps to improve the performance of parallel HEVs and promote their application in the automotive industry.
- as many symbols and abbreviations are used in the text, I recommend authors to add a list of used symbols at the beginning or end of the manuscript;
Response: Thank you for your suggestion. The nomenclatures have been added at the beginning of the manuscript to facilitate reading.
- I recommend reviewing the formatting of the manuscript and the quality of the figures;
Response: Thank you for your advice. In the revised manuscript, Fig.2, Fig. 9 and Fig. 13 have been replace by the high quality pictures. In addition, the formatting of the manuscript has been checked carefully.
- if possible, the authors could also consider the economic effect of the new management strategy - for example, energy saving and so on.
Response: Thank you for your comment. According to the verification results shown in the Section 4, the duration of clutch slipping process is very short, which belongs to a transient process. Unlike energy management strategies, it is difficult to evaluate the merits of the proposed algorithm using economic indicators.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
The paper is a good one and deserves publication after some improvements.
The authors used the appropriate techniques for analysis of the research objects in order to meet aims of the study. The accurate interpretation of outcomes, well substantiated by the results of the analysis has been achieved by them. The presentation of the results in terms of the research objectives has been successfully made. Appropriate methods have been used in a well-founded manner.
The results are interesting which include also measured results.
The following points should be improved before proceeding with the publications:
In Fig. 5 the proposed computational procedure of the sliding mode Control based on group-preserving scheme is proposed. Please clarify two following Points before resubmit the paper :
- In Fig. (3) Fig. 3 the block diagram of proposed coordinated control strategy during clutch slipping is shown, please discuss ist stability with respect to the adaptive Parameters of the PI controller.
-Equation (7) states an optimal Problem to be solved: please discuss more in Depth the technique which you use in the context of suboptimal solution and with respect to the Computational complexity.
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- The scheme consists of some loops and a questions arise: are there some critical situations in which the algorithm cannot stop? In this context how did you choose the "epsilon-parameter"? This parameter is importan to make a decision: are the results "strongly"depending of this parameter? Please address this question.
- In Fig. (6) the architecture of the adaptive PI controller is shown, please clarify and justify the presence of the block named "fuzzy interference".
The paper is a good one and deserves publication after the clarifications above mentioned.
The following papers which are strictly related with this work can be also considered to improve the backgrond of the paper and to horient the reader.
- Mironova A. et al. “A Multi Input Sliding Mode Control for Peltier Cells using a Cold-Warm Sliding Surface”, Journal of Franklin Institute (Elsevier Publishers), vol. 355, no. 18, pp. 9351-9373, 2018.
- Mercorelli P., “Parameter identification in a permanent magnet three-phasesynchronous motor of a city bus for an intelligent drive assistant“, International Journal of Modelling, Identification and Control, Inderscience Publishers, vol. 21, no. 4, pp. 352-361, 2014.
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Wang, Z.; Cai, Y.; Zeng, Y.; Yu, J. Multi-Objective Optimization for Plug-In 4WD Hybrid Electric Vehicle Powertrain. Appl. Sci. 2019, 9, 4068. https://doi.org/10.3390/app9194068
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Morales-Morales, J.; Rivera-Cruz, M.A.; Cruz-Alcantar, P.; Bautista Santos, H.; Cervantes-Camacho, I.; Reyes Herrera, V.A. Performance Analysis of a Hybrid Electric Vehicle with Multiple Converter Configuration. Appl. Sci. 2020, 10, 1074. https://doi.org/10.3390/app10031074
Author Response
The paper is a good one and deserves publication after some improvements.
The authors used the appropriate techniques for analysis of the research objects in order to meet aims of the study. The accurate interpretation of outcomes, well substantiated by the results of the analysis has been achieved by them. The presentation of the results in terms of the research objectives has been successfully made. Appropriate methods have been used in a well-founded manner.
The results are interesting which include also measured results.
The following points should be improved before proceeding with the publications:
(1) In Fig. 5 the proposed computational procedure of the sliding mode Control based on group-preserving scheme is proposed. Please clarify two following Points before resubmit the paper:
- In Fig. (3) Fig. 3 the block diagram of proposed coordinated control strategy during clutch slipping is shown, please discuss its stability with respect to the adaptive Parameters of the PI controller.
Response: Thank you for your comment and suggestion. As shown in Fig. 3, the negative feedback with respect to the wheels speed is introduced to generate the target speed. In addition, the architecture of the adaptive PI controller is shown in Fig. 6. According to the figure, the introduction of the feedback module also ensures the stability of the system.
-Equation (7) states an optimal Problem to be solved: please discuss more in Depth the technique which you use in the context of suboptimal solution and with respect to the Computational complexity.
Response: Thank you for your comment. In this study, to solve the optimal problem stated by Eq. (7), an appropriate Lagrange function is formulated and the control law u1 can be obtained by using SMC method. In addition, to preserve the asymptotic behavior of the original dynamic systems, the group-preserving scheme is introduced, and Runge-Kutta method is applied to solve the differential equation stated by Eq. (16). The Runge-Kutta method is a single-step iterative method. It is able to suppress cumulative errors and has the advantage of high arithmetic accuracy.
- The scheme consists of some loops and a questions arise: are there some critical situations in which the algorithm cannot stop? In this context how did you choose the "epsilon-parameter"? This parameter is importan to make a decision: are the results "strongly"depending of this parameter? Please address this question.
Response: Thank you for your suggestion. As shown in Fig. 5, the iteration number N is defined in advance. If k≥N, the loop will terminate.
- In Fig. (6) the architecture of the adaptive PI controller is shown, please clarify and justify the presence of the block named "fuzzy interference".
Response: Thank you for your comment. In this study, accurate parameters of the PI controller are achieved by the defuzzification. Here, the height method is applied to calculate PI controller parameters.
The paper is a good one and deserves publication after the clarifications above mentioned.
Response: Thank you for your recommendation.
The following papers which are strictly related with this work can be also considered to improve the backgrond of the paper and to horient the reader.
Mironova A. et al. “A Multi Input Sliding Mode Control for Peltier Cells using a Cold-Warm Sliding Surface”, Journal of Franklin Institute (Elsevier Publishers), vol. 355, no. 18, pp. 9351-9373, 2018.
Mercorelli P., “Parameter identification in a permanent magnet three-phasesynchronous motor of a city bus for an intelligent drive assistant“, International Journal of Modelling, Identification and Control, Inderscience Publishers, vol. 21, no. 4, pp. 352-361, 2014.
Wang, Z.; Cai, Y.; Zeng, Y.; Yu, J. Multi-Objective Optimization for Plug-In 4WD Hybrid Electric Vehicle Powertrain. Appl. Sci. 2019, 9, 4068. https://doi.org/10.3390/app9194068
Morales-Morales, J.; Rivera-Cruz, M.A.; Cruz-Alcantar, P.; Bautista Santos, H.; Cervantes-Camacho, I.; Reyes Herrera, V.A. Performance Analysis of a Hybrid Electric Vehicle with Multiple Converter Configuration. Appl. Sci. 2020, 10, 1074. https://doi.org/10.3390/app10031074
Response: Thank you for your suggestion. These papers which are related with this work have been cited to improve the background of the paper. The specific revise is marked by yellow and the content is shown in the revised manuscript.
Author Response File: Author Response.pdf
This manuscript is a resubmission of an earlier submission. The following is a list of the peer review reports and author responses from that submission.
