Vol.:(0123456789) 1 3 Electrical Engineering https://doi.org/10.1007/s00202-019-00914-6 ORIGINAL PAPER Feed‑forward modeling and real‑time implementation of an intelligent fuzzy logic‑based energy management strategy in a series–parallel hybrid electric vehicle to improve fuel economy Krishna Veer Singh 1  · Hari Om Bansal 1  · Dheerendra Singh 1 Received: 13 June 2019 / Accepted: 26 December 2019 © Springer-Verlag GmbH Germany, part of Springer Nature 2020 Abstract A hybrid electric vehicle is powered by: the internal combustion engine and the battery-powered electric motor. These sources have specifc operational characteristics, and it is necessary to match these characteristics for the efcient and smooth func- tioning of the vehicle. The nonlinearity and uncertainties in hybrid electric vehicle model require an intelligent controller to control the energy sharing between battery and engine. In this work, a fuzzy logic-enabled energy management strategy for the hybrid electric vehicle based on torque demand, battery state of charge and regenerative braking is designed and implemented. The proposed energy management strategy allows engine and motor to maneuver in their efcient operating regions. The designed hybrid electric vehicle and its control strategy follow the driver commands and regulations on vehicle performance and liquid fuel consumption. MATLAB/Simulink is used to carry out simulations, and then, the whole system is validated in real time on hardware-in-the-loop testing platform. This work employs an FPGA-based MicroLabBox hardware controller to validate real-time behavior. The proposed scheme results in better fuel economy, faster response and almost nil mismatch between desired and achieved vehicle speeds. Keywords Hybrid electric vehicle · Energy storage system · State of charge · Electric motor · Fuzzy logic · Hardware in the loop List of symbols V Vehicle speed V mot Voltage across motor ∑F t Total tractive force ∑F resistance Total resistive force M Vehicle mass δ Mass factor g Acceleration constant α Road angle f r Rolling resistance coefcient J rot The inertia of rotational components r dyn Dynamic radius of the tire I Current T d The torque developed by the motor I A Armature current P Power P bat Battery power V t Terminal voltage V Voltage R A Armature resistance J Inertia constant L A The inductance of the armature E Energy λ Rotational inertia constant τ Torque at which efciency is measured ω The speed at which efciency is measured P The fxed losses independent of torque or speed K 2 The torque-dependent electrical losses K w  2 The speed-dependent iron losses P max Absolute maximum engine power ω Speed of engine ω m Speed of motor ω r Reference idle speed ω t Speed threshold of controller τ Time constant of controller T Torque output T engine Engine torque * Krishna Veer Singh kriss.singh50@gmail.com 1 Power Electronics and Drives Lab, Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science, Pilani, Rajasthan, India