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A real-time optimal control of parallel hybrid electric vehicles (PHEVs) with the equivalent consumption minimization strategy (ECMS) is presented in this paper, whose purpose is to achieve the total equivalent fuel consumption minimization and to maintain the battery state of charge (SOC) within its operation range at all times simultaneously. Vehicle and assembly models of PHEVs are established, which provide the foundation for the following calculations. The ECMS is described in detail, in which an instantaneous cost function including the fuel energy and the electrical energy is proposed, whose emphasis is the computation of the equivalent factor. The real-time optimal control strategy is designed through regarding the minimum of the total equivalent fuel consumption as the control objective and the torque split factor as the control variable. The validation of the control strategy proposed is demonstrated both in the MATLAB/Simulink/Advisor environment and under actual transportation conditions by comparing the fuel economy, the charge sustainability, and parts performance with other three control strategies under different driving cycles including standard, actual, and real-time road conditions. Through numerical simulations and real vehicle tests, the accuracy of the approach used for the evaluation of the equivalent factor is confirmed, and the potential of the proposed control strategy in terms of fuel economy and keeping the deviations of SOC at a low level is illustrated

Design and Validation of Real-Time Optimal Control with ECMS to Minimize Energy Consumption for Parallel Hybrid Electric Vehicles