IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE)

e-ISSN: 2278-1684,p-ISSN: 2320-334X

PP. 65-71
www.iosrjournals.org

Modelling And Simulation Of Regenerative Braking System For

Light Commercial Vehicle- A Review
Shubham Shewate1, M. A. Kumbhalkar#, Yogesh Sonawane2, Tushar Salunkhe3,
Samrat Savant4,
1,2,3,4
Student, Mechanical Department, JSPM Narhe Technical Campus, Pune, India
#
Assistant Professor, Mechanical Department, JSPM Narhe Technical Campus, Pune, India
__________________________________________________________________________________________
Abstract: In this paper, Regenerative braking strategy for hybrid vehicles is studied. As the usage of fuel
resources increasing day by day, the lack of fuel and environmental pollution become a serious problem. For
such Problems, Hybrid Electric Vehicles are one of the better solutions. As we know that energy can neither be
created nor be destroyed, it can be just converted from one form to another. Regenerative braking is one of the
techniques adopted by HEVs in which, Kinetic energy is converted into electrical energy and use it directly or
store in battery for further use. This Paper includes the study of HEVs and Regenerative braking system. Also,
the study of modelling and simulation for regeneration model developed in modern simulation tools has been
introduced.
Keywords: Hybrid Vehicles, Regenerative Braking Strategy, Simulation.

I. INTRODUCTION
Transportation is important in today’s world. It increases use of fuels which causes depletion of fuel
increase in transportation cost and environmental pollution. The solution for the above problems is the use of
hybrid electric vehicles which improves the performance of the vehicle. It uses two or more power sources to
drive the vehicle without affecting their efficiency. In HEVs regenerative braking is used to increase fuel
economy and reduce emissions. Mechanical, Hydraulic, Hydro-electric, electric are the types of regenerative
braking system.
Many researchers, investigated optimum control strategy for regenerative braking with the help
software like ADVISOR in MATLAB environment. This paper contains the study of regenerative braking
simulation for diesel hybrid vehicle using GT-software as a simulation tool. In this software, we can use typical
diving cycles like HWY, New European Driving Cycle (NEDC), SFTP-US06. Fuel economy and emission
results in form of graphs are obtained to check the performance of HEV.
Paper presented by M.K Yoong[1] includes the working principle and braking controller for RBS to
increase its efficiency. Paper presented by SONIYA.K. MALODE, R.H. ADWARE[2] includes an introduction
and working principle of the regenerative braking system in which all braking modes are described. Paper
presented by PULKIT GUPTA, ANCHAL KUMAR, SANDEEPAN DEB, SHAYAN[3] gives the difference
between conventional braking and regenerative braking system, its advantages disadvantages and applications.
John William Miller[4] gives the detailed architecture and operation of a tunable single axle RBS for use in
Challenge X vehicle.
In a thesis is presented by Brian Su-Ming Fan[5], Modelling and simulation of HEV are done by using
MATLAB/Simulink and ADAMS. Fuel economy of HEV and the conventional vehicle is compared using EPA
New York City Cycle (NYCC) and the Highway Fuel Economy Cycle (HWFET). Sanjai Massey[6] present a
paper on modelling and simulation of HEV, which is based on UDDS (urban dynamometer driving schedule) to
simulate real driving conditions. A MATLAB/Simulink model Is developed in this paper. Ajinkya Gore, S.B.
Sanap, R. V. Mulik[7] Developed a regeneration model in GT-Suite simulation tool and also give a brief
introduction about HEV and RBS.

II. HEV AND RBS

1. Hybrid Electric Vehicle: -
The hybrid electric vehicle combines any two power sources to drive the vehicle. Generally,
diesel/electric, gasoline/flywheel and fuel cell (FC)/battery combinations are used[10]. On the basis of
Architecture, there are three types of HEV explain below.
Figure 1 shows Series configuration HEV. It consists of only one energy converter. IC engine acts as a
prime mover. It drives an electric generator which converts mechanical energy to electric energy which is stored

1st National Conference On Recent Innovations in Mechanical Engineering (NCRIME-2018 65 | Page

 Modelling and simulation of regenerative braking system for Light commercial vehicle

in a battery for further use. The electric motor receives electric energy and drives the wheels to propel the
vehicle. In series HEV, Generator gives maximum electrical energy because the engine runs at its best
efficiency during the stop and go of city driving. During highway driving the energy loss is more, therefore, the
system gives lower efficiency.

Figure 1: Schematics of Series Hybrid Electric Vehicle [9]

Figure 2 shows Parallel configuration HEV. It switches between the internal combustion engine and
electric motor drive to drive the vehicle. In this configuration, vehicle gives high efficiency during highway
driving condition. The power requirements of the electric motor in parallel HEV are lower than series HEV
because IC engine complements to the total power demand of the vehicle.

Figure 2: Schematic of a Parallel Hybrid Electric Vehicle [9]

In series-parallel configuration (Split Type) HEV the IC engine is used to drive the vehicle as well as to charge
the battery. The architecture of this configuration is highly complicated.
2. Regenerative Braking System: -
The regenerative braking system is energy recovery mechanism used in HEVs. When brakes are
applied the vehicles slow down, the kinetic energy is simply get released in form of heat and becomes
useless[3]. RBS convert this energy into electric energy or mechanical energy and use it to drive the vehicle. It
improves performance and efficiency of the vehicle. There are two types of RBS explain below
Figure 3 shows the Hydraulic RBS. In this system, fluid is used as a working
medium. When brakes are applied kinetic energy drives the pump to transfer fluid from low-pressure reservoir
to high-pressure accumulator. During acceleration, fluid in high-pressure accumulator used to drive the motor
which is connected to drive shaft of a vehicle.

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 Modelling and simulation of regenerative braking system for Light commercial vehicle

Figure 3: Schematic of Hydraulic RBS

(Source- http://energyeducation.ca/encyclopedia)
Figure 4 shows electric RBS. In this system, Kinetic energy is converted into electric energy with the help of
generator store it in the battery. This electrical energy in Battery is used to drive the motor connected to the
driveshaft.

Figure 4: Electric Regenerative Braking System (RBS)

(Source: www.brighthub.com)

III. MODELLING AND SIMULATION OF RBS

MATLAB/Simulink Model:
In a thesis is presented by Brian Su-Ming Fan[5], MATLAB/Simulink and Advisor tools are used to
generate the simulation architecture. Comparison of vehicle speed in both models is given in paper in which,
there is close match between results[5]. Figure 5 shows overall model structure in MATLAB/Simulink. Also the
data blocks of following model presented in details. The model components are setup in chronological order of
data flow starting from left with drive cycle data and ending to right with ADAMS model subsystem[5].

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 Modelling and simulation of regenerative braking system for Light commercial vehicle

Figure 5. MATLAB/Simulink model of overall structure[5]

Results obtained are as follows:

I. New York City Cycle (NYCC) is used to simulate city driving[5]. The graphs are obtained from which
comparison between conventional vehicle and hybrid vehicle model is summarised. Table 2 shows the
results of simulation.

Vehicle model Fuel Consumption Distance Fuel Economy

Travelled
Conventional 0.1361 1.89 7.20
Hybrid 0.1246 1.89 6.56
% Difference -8.92 -8.92
Table 2. results of simulation by NYCC [5]
From table it is found that the HEV model demonstrated 8.92% fuel economy improvement over
conventional vehicle[5].
II. Highway Fuel Economy Cycle (HWFET) is used to simulate highway driving[5]. Table 3 shows the
simulation result using HWFET.

Vehicle model Fuel Consumption Distance Fuel Economy

Travelled
Conventional 0.4423 16.45 2.69
Hybrid 0.3792 16.45 2.31
% Difference -14.27 -14.27
Table 3. results of simulation by HWFET [5]
From table it is found that the HEV model demonstrated 14.27% fuel economy improvement over conventional
vehicle[5].

GT-Suite Model:
In paper presented by M. Sh. Asfoor, A. M. Sharaf, and S. Beyerlein[8] GT-Suite tool is used for
comparison between IC engine only (Conventional) vehicle and HEV with same engine.
Conventional Model: Figure 6 shows Conventional Vehicle model developed on GT-Suite. In this model ICE
controller is used to simulate engine control functions such as idling and fuel cut off, Transmission controller
and lockup clutch used to control gear selection and action of friction clutch respectively[8]. A environment
module used to control air conditions that affect aerodynamic force on vehicle, A Road model is used to specify
the road properties such as road grade, elevation, curvature radius and rolling resistance[8].

1st National Conference On Recent Innovations in Mechanical Engineering (NCRIME-2018 68 | Page

 Modelling and simulation of regenerative braking system for Light commercial vehicle

Figure 6. Conventional power planet model[8]

HEV models: In HEV two basic models are studied that are generated by adding typical components
like motor, generator battery. Improvements in fuel economy and emissions are depends on supervisory control
strategy it determines the power distribution between primary source (engine) and secondary source (battery)[9].
The battery model calculates the state of charge (SOC) which is the level of electric capacity in battery[8].
Braking module is used to calculate brake pedal position based on braking power and maximum torque
capability of brakes and EMS is used to coordinate power flow between energy carriers[8]. Figure 7 shows the
series HEV model developed in GT-suite. When battery state of charge above 0.7, the ICE is shutoff and when
it decreases below 0.5, the ICE turned back on to charge the battery.

Figure 7. Series HEV planet model[8]

Figure 8 shows the parallel HEV model developed in GT-suite. The control system setup such a way
that, when vehicle stops, the engine also shutoff. When it begins to move motor power the driveline which
cranks the engine[8].

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 Modelling and simulation of regenerative braking system for Light commercial vehicle

Figure 8. Parallel HEV planet model[8]

Four driving cycles are used to compare fuel economy of vehicle. Results obtained as shown in figure
9. Fuel economy for conventional vehicle is low as compared to both HEV models for all driving cycles. Series
HEV gives maximum fuel economy NEDC driving cycle and parallel HEV gives maximum fuel economy for
HWY driving cycle.

Conventional Series HEV Parallel HEV

60 52.8
47.1
Fuel economy [mpg]

50
40 35.06 34.2
29.9 29.5
26.9 24.222.1
30 21 23.3 22.7
20
10
0
FTP driving cycle HWY driving cycle US06 driving cycle NEDC driving cycle

Figure 9. Fuel economy of different powertrain models[8]

IV. CONCLUSION
In this paper, comparison between Conventional Vehicle model and Hybrid Electric Vehicle model
with Regenerative Braking Strategy, developed in MATLAB/Simulink and GT-Suite simulation tool is studied.
Which shows that, HEV has better fuel economy than conventional vehicle. Regenerative braking strategy
already used in many HEV’s. Regenerative braking systems are particularly suitable in developing countries
where heavy vehicles like truck and buses are most used for transportation within the cities. By reducing the
complexity, increase in rate of production the cost of this system will reduce and it becomes more attractive than
conventional vehicle.

REFERENCES
[1] M.K Yoong, Y.H Gan, G.D Gan, C.K Leong, Z.Y Phuan, B.K Cheah. K.W Chew, Studies of Regenerative Braking in Electric
Vehicle
[2] SONIYA.K. MALODE, R.H.ADWARE, REGENERATIVE BRAKING SYSTEM IN ELECTRIC VEHICLES, International
Research Journal of Engineering and Technology (IRJET) Volume: 03 Issue: 03
[3] PULKIT GUPTA, ANCHAL KUMAR, SANDEEPAN DEB, 4SHAYAN, REGENERATIVE BRAKING SYSTEMS (RBS)
(FUTURE OF BRAKING SYSTEMS), International Journal of Mechanical and Production Engineering, Volume- 2, Issue- 5
[4] John William Miller, Design of a Single Axle Regenerative Brake System for a 2005 Thru-the-Road Hybrid Electric Chevrolet
Equinox, Master's Thesis, University of Tennessee, 2006.
[5] Brian Su-Ming Fan, Modeling and Simulation of a Hybrid Electric Vehicle Using MATLAB/Simulink and ADAMS, University
of Waterloo, Ontario, Canada, 2007

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 Modelling and simulation of regenerative braking system for Light commercial vehicle
[6] Massey, Sanjai, "MODELING, SIMULATION AND CONTROL OF HYBRID ELECTRIC VEHICLE DRIVE WHILE
MINIMIZING ENERGY INPUT REQUIREMENTS USING OPTIMIZED GEAR RATIOS", Open Access Master's Report,
Michigan Technological University, 2016.
[7] Ajinkya Gore, S.B. Sanap, R. V. Mulik, Design of Regenerative Braking Control Strategy for Parallel Hybrid Vehicle,
International Engineering Research Journal Page No 140-143
[8] M. Sh. Asfoor, A. M. Sharaf, and S. Beyerlein, USE OF GT-SUITE TO STUDY PERFORMANCE DIFFERENCES
BETWEEN INTERNAL COMBUSTION ENGINE (ICE) AND HYBRID ELECTRIC VEHICLE (HEV) POWERTRAINS,
Proceedings of the 16 th Int. AMME Conference, 27-29 May, 2014
[9] Jianping Gao, Fengchun Sun, Hongwen He, Guoming G. Zhu, Elias G. Strangas, A Comparative Study of Supervisory Control
Strategies for a Series Hybrid Electric Vehicle, IEEE
[10] A Vamsi Krishna, G Suraj Kumar, Ashish Kumar, M Sampath Kumar, Singaiah Gali, Hybrid bike, International Journal &
Magazine of Engineering, Technology, Management and Research, ISSN No: 2348-4845

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