In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
10, N
o.
2, June
2
01
9, pp.
792~
8
0
0
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v10
.
i
2.pp
7
92-
80
0
792
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
a
e
score
.
com
/
j
o
u
r
na
l
s
/
i
n
d
e
x
.
p
hp/IJ
PED
S
Optimization of the
fuel economy and emis
s
ions for
plug in
hybrid electric recreational boa
t energy management strategy
u
s
ing g
e
netic algorithm
J.
S
. N
orb
a
k
y
ah
, A
.
R.
S
alisa
S
c
ho
ol
o
f O
cean E
ngin
e
e
r
i
n
g
,
Univ
e
rsiti
M
a
lay
s
ia
T
ereng
g
an
u, M
a
la
y
s
i
a
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
Re
ce
i
v
e
d
O
c
t
2
,
2018
Re
vise
d O
c
t
1
9
,
2019
A
c
c
e
pte
d
F
eb 16,
2
0
1
9
Tod
a
y,
t
he
t
ra
ns
po
rta
tion
se
c
t
or
h
a
s
u
nd
e
r
g
o
n
e
a
c
ha
n
g
e
fro
m
c
o
n
v
en
ti
onal
veh
i
cl
e
t
o
h
y
b
ri
d
elect
ric
veh
i
cle
es
pecial
ly
l
and
-
bas
e
d
wi
th
t
h
e
a
i
m
t
o
redu
ce
f
uel
con
s
um
ptio
n
an
d
em
issio
n
s
.
H
o
w
ever,
water
trans
p
o
r
t
ati
o
n
is
als
o
o
n
e
o
f
the
co
nt
ri
bu
to
rs
o
f
exces
si
ve
u
s
e
o
f
f
u
el
a
nd
emi
s
s
ion
s
.
Th
eref
ore,
w
ater
t
ran
s
p
o
rt
n
ee
ds
c
han
g
es
a
s
i
t
h
as
b
een
d
o
n
e
on
l
a
n
d
tran
sp
ort,
e
sp
ecial
ly
cars.
I
n
th
is
p
ap
er,
p
l
u
g
i
n
hy
bri
d
e
l
ect
ri
c
recreational
bo
at
(
P
H
E
R
B)
i
s
i
n
tro
d
u
ced.
P
H
E
RB
is
a
s
p
ecial
m
o
d
el
b
ecaus
e
i
n
P
H
E
R
B
po
wert
rai
n
c
o
n
fi
guratio
n,
it
o
n
l
y
n
eeded
o
ne
E
M
co
m
p
ared
t
o
exi
sti
ng
con
f
ig
urati
o
n
w
i
t
h
e
nerg
y
m
a
nagem
e
n
t
s
t
r
ategy
(E
MS
).
I
n
t
h
is
w
ork
,
t
he
op
tim
al
E
MS
f
o
r
P
HE
RB
are
presen
ted
v
i
a
g
e
net
i
c
algo
rit
h
m
(G
A).
T
o
est
i
m
a
te
t
he
f
uel
econ
o
m
y
a
n
d
e
m
i
ssio
n
s,
t
he
m
od
el
o
f
PHE
R
B
i
s
em
p
l
o
y
ed
nu
m
e
ricall
y
i
n
the
M
A
TLAB/S
I
M
U
L
I
NK
e
nv
iro
n
m
e
nt
w
i
t
h
a
s
p
ecial
E
MS
us
in
g
K
u
ala
T
e
reng
gan
u
(
KT
)
riv
e
r
drivin
g
cy
cle.
S
im
u
l
ation
re
s
ult
of
PHERB
o
p
tim
iz
a
t
io
n
usin
g
GA
i
m
p
r
ov
e
to
1
5
%
fo
r
KT
r
ive
r
d
ri
vin
g
cycles
witho
u
t
v
i
ola
t
in
g the
PH
ERB p
e
rfor
m
a
nc
e
.
K
eyw
ord
s
:
Em
i
ssions
EMS
F
u
e
l
E
co
nom
y
GA
PHERB
Co
pyri
gh
t © 2
019 In
stit
u
t
e
of Advanced
En
gi
neeri
n
g
an
d
S
c
ien
ce.
All
rights
res
e
rv
ed.
Corres
pon
d
i
n
g
Au
th
or:
A
.
R S
a
lisa,
S
c
hoo
l
o
f
O
c
e
a
n
En
g
i
n
eer
in
g
,
U
niver
s
it
i Ma
lay
s
ia
T
ere
n
gga
nu,
2
103
0
Ku
al
a Ne
ru
s, M
al
ay
si
a
Em
ail:
sa
l
i
sa
@
u
mt.e
du.m
y
1.
I
N
TR
OD
U
C
TI
O
N
N
o
w
a
days,
the
fuel
c
o
n
sum
p
t
i
o
n
a
n
d
e
m
i
ssi
on
b
ec
ome
bi
g
i
s
s
u
es
i
n
tra
n
spor
t
a
ti
on.
T
h
i
s
iss
u
e
a
l
s
o
effec
t
t
he
w
ate
r
t
ranspor
tat
i
o
n.
I
n
w
a
ter
tra
n
sp
orta
t
i
o
n
,
th
e
b
o
a
t
i
s
u
sed
i
n
t
e
rn
al
c
o
m
busti
on
e
ngi
n
e
t
o
d
r
i
v
e
the
boa
t.
P
lug-
in
h
y
b
r
i
d
elec
tr
ic
v
eh
ic
le
g
i
v
e
the
gre
a
t
p
ro
mis
i
ng
in
r
ed
u
c
i
n
g
fue
l
e
c
o
nom
y
an
d
em
i
ssi
on.
Th
us,
w
a
t
e
r
trans
porta
t
i
o
n
n
eeds
the
i
n
no
v
a
ti
o
n
t
o
o
v
er
com
e
t
he
se
p
r
oble
m
s
[1-
4
].
I
n
th
is
p
a
p
er
,
P
l
ug-
in
hy
bri
d
e
lec
t
ric
r
ecr
eatio
nal
b
o
at
(
P
H
ERB)
i
s
a
ne
w
in
ve
nti
on
of
r
e
c
r
e
a
t
i
o
n
a
l
b
o
a
t
w
a
s
p
r
e
s
e
n
t
e
d
[
5
]
.
T
h
e
pro
pose
d
P
H
E
R
B
i
s
ill
us
t
r
ate
d
i
n
F
i
g
u
re
1.
P
H
ERB
c
o
nsis
ts
o
n
l
y
one
e
le
c
t
r
i
c
m
achi
n
e
(
E
M)
w
hic
h
f
unc
ti
on
s
a
s
e
i
t
h
e
r
a
m
otor
o
r
gener
a
tor
at
one
tim
e
w
h
il
e
in
t
he
e
ner
g
y
s
y
st
e
m
s
t
o
r
a
ge
(
ES
S
)
t
here
i
s
ul
tr
ac
apac
it
or
(
U
C
)
ba
n
k
f
or
f
a
s
t
c
h
a
r
g
i
ng
a
n
d
di
sc
harg
i
n
g
d
u
r
i
n
g
t
h
e
r
e
gen
e
rati
ve
b
r
a
k
i
n
g
a
nd
fa
st
acc
el
er
ati
on.
T
he
f
ull
s
i
ze
o
f
I
C
E
is
r
eq
u
i
re
d
bec
a
us
e
w
h
e
n
t
h
e
s
t
a
t
e
o
f
c
h
a
r
g
e
(
S
O
C
)
o
f
t
h
e
E
S
S
i
s
l
o
w
,
t
h
e
I
C
E
w
i
l
l
m
o
ve
t
he
boa
t
al
o
n
e
unti
l
t
he
E
S
S
S
O
C
rea
c
he
s
a
h
i
g
h
l
e
ve
l
a
nd
t
h
e
EM
w
i
ll
ta
ke
ove
r
t
o
m
o
v
e
the
boa
t
.
A
specia
l
e
ne
rg
y
ma
nagem
e
n
t
s
trate
g
y
(EMS
)
for
the
P
H
ERB
i
s
n
e
e
de
d
t
o
i
m
p
r
o
ve
t
he
f
ue
l
ec
o
n
om
y
a
nd
e
m
i
ssio
n
s.
I
n
t
h
i
s
pap
e
r,
t
he
m
ode
l
of
P
H
ERB
w
ith
a
s
pe
cia
l
E
M
S
w
er
e
deve
l
o
pe
d
m
a
the
m
a
t
ica
lly
n
um
erica
l
in
M
ATLAB
/
SIMULIN
K
i
s
prese
n
t
e
d.
T
he
K
ua
l
a
T
e
r
e
n
g
g
a
nu
dri
v
in
g
c
y
c
l
e
w
e
re
u
se
d
in
P
H
E
R
B
m
o
d
e
l
to
a
na
lyse
t
he
P
H
E
RB
perform
ance
. G
e
ne
tic al
gor
it
hm (GA
)
op
ti
miza
tio
n w
e
re
a
pp
lie
d t
o pa
ram
e
ter
used i
n
P
H
ERB
t
o
imp
rove
t
h
e
P
H
ERB
mode
l
i
n
t
e
r
m
of
f
ue
l
co
nsum
pt
i
on
and
em
issi
on.
T
he
m
in
i
m
um
o
f
fue
l
c
o
n
sum
p
t
i
on
a
nd
e
m
is
sion
befor
e
a
nd a
f
te
r
optim
i
z
e
w
e
re
c
ompa
red.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
O
p
tim
iz
a
tio
n
of
t
h
e
f
u
e
l
e
c
o
n
o
m
y
and e
m
i
s
s
i
ons
for p
l
ug i
n
hyb
r
i
d
e
l
ec
tr
ic …
(J. S.
Norb
a
k
yah)
79
3
F
i
gure
1.
P
H
E
RB pow
e
r
trai
n
2.
PHE
R
B DEVEL
O
PM
ENT
D
e
si
g
n
s
pec
i
fic
a
ti
ons,
r
e
qu
irem
ents,
siz
i
n
g
a
nd
se
l
e
c
t
i
o
n
for
E
M
,
I
C
E
a
n
d
e
n
e
r
g
y
s
t
o
r
a
g
e
s
y
s
t
e
m
(ES
S
)
a
r
e
c
a
r
ried out in
or
de
r
t
o
i
de
n
t
i
f
y
t
h
e
ma
i
n
c
om
p
o
n
e
nt
s
o
f
P
H
E
RB
pow
e
r
tra
i
n.
T
he
E
M,
I
CE
a
nd
E
S
S
are
size
d
ac
cor
d
i
n
g
t
o
b
oa
t
p
a
ra
me
t
e
r,
s
pecific
a
tio
ns
a
n
d
p
er
fo
rm
anc
e
r
equ
i
rem
e
nts
(
T
ab
le
1
)
base
d
on
t
h
e
boa
t
p
o
w
e
r req
u
irem
en
t for s
t
e
a
dy
s
tate
vel
o
c
it
y
us
i
n
g
dy
na
m
i
c
eq
ua
ti
o
n
b
oat
[6]. T
he b
oa
t ty
pe se
l
e
c
t
ed i
s a
rec
r
ea
ti
o
n
a
l
b
o
a
t.
I
n
s
i
mula
t
i
on,
t
he
l
e
n
gt
h
of
boa
t
used
i
s
1
2
.
4
m
a
n
d
d
e
n
s
i
t
y
o
f
w
a
t
e
r
i
s
1
0
0
0
k
g
m
-3
.
The
enlar
g
em
ent
o
f
boa
t
m
ode
l
st
arts
w
i
t
h
t
h
e
e
s
t
i
ma
tio
ns
o
f
b
o
at
e
ne
r
g
y
an
d
p
o
w
e
r
nee
d
ed
f
or
c
omm
on
d
r
iv
in
g
situa
t
io
ns
b
ase
d
on
t
h
e
par
a
m
e
ters
a
nd
t
a
r
get
spe
c
i
fica
t
i
ons
o
f
t
h
e
boat
b
a
se
d
on
P
HERB
sp
ec
if
ic
a
t
ion
,
para
me
ter
an
d requ
ire
m
e
n
t
.
T
hr
oug
h
a
p
o
w
e
r
fl
ow
a
nal
y
s
i
s,
t
he
s
ize
a
n
d
lim
it
of
e
a
c
h
c
o
m
pone
n
t
a
r
e
d
e
c
ide
d
ac
cord
in
g
l
y
t
o
g
e
t
t
he
n
ec
ess
itie
s.
T
a
b
l
e
2
d
i
s
p
l
a
y
e
d
t
he
s
iz
e
and
sp
ec
ifi
c
at
ion
s
u
sed
fo
r
PHER
B
.
A
l
l
p
art
s
i
n
PHER
B
obt
ain
a
mat
h
e
m
at
i
cal
m
od
el
i
s
co
mbin
ed
.
Th
e
bo
at
p
e
rfo
rm
ance
i
s
sim
u
la
te
d
i
n
t
he
MA
TLA
B/S
I
MU
LIN
K
e
nvi
ronme
n
t
w
i
t
h
a
s
pe
cia
l
E
MS
a
nd
differ
e
n
t
dr
i
v
in
g
c
y
c
l
e.
O
vera
ll
s
truc
tu
re
o
f
P
H
ERB m
ode
l
is il
l
us
tra
t
e
d
i
n F
i
gur
e 2.
Ta
b
l
e 1.
P
a
r
a
m
e
t
er,
S
p
e
c
ifica
tio
n
an
d C
o
n
f
i
g
urat
io
n
Pa
r
a
me
t
e
r a
nd S
p
ec
if
ica
tions
T
y
p
e
o
f
boa
t
C
onve
nti
ona
l
boa
t
PH
ERB
C
onfigu
r
a
tion
Se
r
i
e
s
S
e
r
ie
s-P
a
r
a
ll
e
l
Le
ngth
ove
r
a
ll,
L
12.
4
m
12.
4
m
Le
ngth
a
t
w
a
t
e
r
l
i
ne,
L
WT
11.
0
m
11.
0
m
B
r
ea
th,
B
1.
8 m
1.
8 m
D
r
a
ught,
T
0
.
64
m
0.
64
m
Le
ngth
be
twee
n
p
e
rpe
ndic
u
l
a
r,
L
PP
10.
67
m
10.
67
m
D
e
nsity
o
f
wa
t
e
r, ρ
1000
kgm
-3
1000
kgm
-3
T
o
ta
l
pr
opulsi
ve
e
ffic
i
e
n
c
i
e
s
,
η
T
0
.9
0
.9
Tab
l
e
2. P
H
E
RB
C
om
po
ne
nt
S
pecific
a
tio
n
C
o
m
pone
nt
S
pe
c
i
f
i
c
a
t
ions
IC
E
20
kW
@
3
000
rp
m
E
M
30
kW
A
C
induc
ti
on
m
o
tor
E
SS
5
kWh,
6
A
h
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
Int J
P
o
w
El
e
c
&
D
ri S
yst
,
V
ol.
10,
N
o.
2
, June
20
1
9
:
792
–
8
00
79
4
F
i
gure
2. O
ve
ra
l
l
s
truc
tur
e
of
the
P
H
ER
B
mod
e
l i
n
MA
T
L
A
B/S
I
MU
LI
N
K
enviro
nm
en
t
3.
PHE
R
B EN
ERG
Y
M
ANAG
EM
ENT
SYS
T
EM
Ene
r
g
y
M
a
n
a
g
em
ent
S
y
s
t
e
m
(
EMS
)
i
s
de
pe
n
d
a
b
le
o
f
c
hoos
i
n
g
i
n
w
hi
ch
m
od
e
t
h
at
t
h
e
b
o
a
t
i
s
w
o
rki
n
g.
A
f
e
w
w
orki
ng
me
th
o
d
s
of
t
h
e
p
r
o
p
o
se
d
E
M
S
a
ppear
e
d
i
n
F
i
gur
e
3
to
c
o
n
t
ro
l
the
f
l
o
w
o
f
pow
e
r
am
ong
t
h
e
ES
S
,
E
M,
a
nd
ICE,
i
nc
lu
d
i
n
g
t
h
e
m
ec
han
i
ca
l
brak
in
g,
r
ege
n
e
r
ati
v
e
bra
k
i
n
g
,
m
otor
onl
y,
e
ng
i
n
e
rec
h
arge
,
m
o
tor
and
en
gi
ne,
and
e
n
g
i
ne
o
n
l
y
mode
r
efer
t
o
the
b
oat
dem
a
nd
in
f
orw
a
rd
a
nd
re
verse
c
r
ui
sin
g
and
S
O
C
l
e
ve
l
of
E
S
S
[
7-
8].
The
m
echa
n
i
c
a
l
b
r
a
k
i
ng
m
o
de
i
s
star
ted
if
t
he
S
O
C
o
f
b
o
t
h
ES
S
and
the
thr
o
tt
l
e
pos
it
io
n
i
s
h
igh.
A
mid
the
r
e
ge
nera
t
i
ve
b
r
a
ki
ng
m
ode,
t
h
e
d
i
s
t
r
ibu
t
io
n
of
a
b
s
orbe
d
re
genera
tive
p
o
w
e
r
b
e
deter
m
i
n
ed
b
y on t
h
e
perc
en
ta
ge
of
thr
o
t
t
le
p
osit
i
on as
w
ell as
on t
h
e
S
O
C leve
l
o
f
b
o
t
h
st
ora
g
e u
n
i
t
s.
F
i
gur
e 3.
P
H
E
RB EMS
m
ode
o
p
e
ra
tio
n
EM
o
n
l
y
m
ode
c
a
n
b
e
ac
t
i
va
t
e
d
w
h
e
n
t
he
S
O
C
l
e
v
e
l
i
s
hi
g
h
.
Whe
n
t
h
e
ESS
SOC
and
the
s
p
ee
d
a
r
e
low
,
t
he
I
C
E
w
ill
dr
ive
t
h
e
boa
t
for
char
g
i
ng
the
ES
S.
If
the
b
oat
is
c
r
u
i
s
in
g
an
d
t
h
e
ES
S
has
a
moder
a
te
S
O
C,
t
hen
t
h
e
boa
t
ca
n
be
e
i
t
her
I
C
E
rec
h
arge
o
r
EM
onl
y
mode
r
efe
r
t
o
pre
v
i
o
us
m
ode.
I
f
t
he
b
o
a
t
ac
cele
r
at
io
n
is
h
i
g
h,
t
he
n
t
h
e
I
C
E
wi
l
l
n
o
t
h
a
v
e
an
o
p
p
o
r
t
un
it
y
t
o
c
h
ar
ge
t
h
e
E
S
S
b
ec
ause
t
he
I
CE
o
n
l
y
m
ode
is
a
c
tiva
t
e
d
.
4.
PHE
R
B S
I
MULAT
I
ON
I
n
s
imul
at
i
on,
P
H
E
RB
m
ode
l
presen
t
e
d
in
F
igure
4
is
u
s
e
d
t
o
s
im
u
l
a
t
e
t
h
e
dri
v
e
perf
or
ma
nce
and
fue
l
c
o
n
s
u
m
p
ti
on
for
K
u
ala
T
e
reng
gan
u
(
K
T
)
dr
i
v
i
n
g
cyc
l
e
.
K
T
d
r
iv
i
n
g
cy
cle
a
r
e
dis
p
l
a
y
in
F
i
gure
5.
F
igure
5
–
F
i
g
u
re
7
s
how
s
the
si
m
u
late
d
ES
S
c
u
rre
nt
,
v
o
lta
g
e
a
n
d
pow
e
r
c
o
n
su
m
p
t
i
o
n
f
or
t
he
K
T
dr
ive
c
y
cl
e.
T
he
pea
k
c
urre
nt
s
a
r
e
due
t
o
the
h
i
g
h
p
ow
er
d
e
m
a
nd
to
a
c
h
i
e
ve
f
a
s
t
b
o
a
t
a
c
cel
er
ati
o
n
s
dur
in
g
respe
c
tive
per
i
o
d
s.
The nega
t
i
ve v
alue
s
o
n
the gr
a
ph
r
e
pre
s
e
n
t
t
h
e rege
nera
tiv
e bra
k
i
ng
e
v
e
nt
s
d
u
r
i
n
g
t
h
e
hard
b
ra
ki
ng
p
e
r
i
o
d
s
i
n
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
O
p
tim
iz
a
tio
n
of
t
h
e
f
u
e
l
e
c
o
n
o
m
y
and e
m
i
s
s
i
ons
for p
l
ug i
n
hyb
r
i
d
e
l
ec
tr
ic …
(J. S.
Norb
a
k
yah)
79
5
the
c
y
c
l
e
.
I
n
th
e
ES
S
vol
tage
g
r
a
p
h
,
the
v
o
l
t
a
ge
i
ncr
ease
s
dur
i
n
g
r
e
g
ene
r
ati
v
e
bra
k
i
n
g,
a
nd
decr
ease
s
dur
in
g
hi
gh
curr
ent d
i
schar
g
e w
h
en t
he
pow
er
d
em
and
from
EM
i
s
a
t pea
k
.
F
i
gure
4.
K
ual
a
te
r
eng
g
an
u
d
r
iv
i
n
g
cyc
l
e
F
i
gure
5.
C
urr
e
nt i
n ES
S
F
i
gur
e 6.
V
olta
ge
i
n ES
S
F
i
gure
7.
P
o
w
e
r
i
n
ESS
F
i
gure
8
–
F
i
g
u
re
10
sh
ow
s
the
s
i
mul
a
t
e
d
EM
s
pee
d
,
tor
que
a
nd
p
ow
e
r
.
A
s
s
how
n
i
n
t
he
f
ig
ure
,
when
t
he
b
oa
t
acc
eler
ates,
t
h
e
re
q
u
ired
E
M
torq
ue
i
n
c
rea
s
e
s
qui
c
k
l
y
,
a
nd
w
h
en
t
he
r
ea
ches
t
he
r
e
l
a
t
i
v
e
l
y
st
a
b
le
v
e
l
oc
i
t
y leve
l,
a
m
uc
h
sm
aller
t
o
rq
ue i
s
re
qu
i
r
ed
t
o
o
v
e
rc
ome
t
h
e
re
sis
t
ance
a
n
d
w
a
t
e
r
d
rag to the
b
oat.
0
50
0
1000
1500
2000
0
5
10
15
20
25
30
35
Ti
m
e
(
s
)
S
pe
ed
(
k
m
/h
)
K
ual
a
T
e
r
enggan
u
R
i
v
e
r
D
r
i
v
i
ng
C
y
c
l
e
0
50
0
10
00
15
00
20
00
25
00
-4
0
-3
0
-2
0
-1
0
0
10
20
30
40
Ti
m
e
(
s
)
C
u
rr
e
n
t
(A
)
0
50
0
10
00
1
500
20
00
25
00
230
240
250
260
270
280
290
300
Ti
me
(
s)
Vo
l
t
a
g
e
(
V)
0
500
100
0
1500
20
00
2
500
-1
-0
.
5
0
0.
5
1
x
1
0
4
Ti
m
e
(
s)
P
o
w
e
r
(k
W
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
Int J
P
o
w
El
e
c
&
D
ri S
yst
,
V
ol.
10,
N
o.
2
, June
20
1
9
:
792
–
8
00
79
6
The
a
v
e
r
age
p
o
w
e
r
dem
a
nd
from
t
h
e
E
M
i
s
5
kW
a
t
t
h
e
ve
loc
i
ty
l
e
v
e
l
a
n
d
the
pea
k
p
o
w
e
r
d
em
and
is
1
3
k
W
dur
in
g t
h
e
acc
elera
t
i
o
n
b
o
at.
F
i
gur
e 8.
P
ow
e
r
i
n EM
F
i
gure
9.
T
orq
u
e
i
n
E
M
F
i
g
u
r
e
10.
S
pe
ed
i
n E
M
F
i
gure
11
–
F
i
g
ur
e
12
p
l
o
ts
t
he
s
im
ula
t
e
d
p
rope
l
l
er
s
peed
a
nd
t
or
q
u
e
re
q
u
i
r
em
en
t
for
t
h
e
KT
d
ri
ve
c
y
c
l
e
.
T
h
e
m
a
x
i
m
u
m
p
r
o
p
e
l
l
e
r
t
o
r
q
u
e
,
8
0
0
N
m
,
o
c
c
u
r
s
w
h
e
n
t
h
e
b
o
at
i
s
a
cce
lera
ti
ng
f
rom
stan
ds
til
l
to
t
he
st
a
b
le
s
pee
d
.
T
h
e
req
u
ire
d
t
or
que
t
he
n
red
u
c
e
s
s
inc
e
t
he
K
T
dri
ve
c
yc
le
onl
y
c
onsis
ts
o
f
m
ild
acc
e
l
er
a
tio
ns
and
dece
l
e
rat
i
o
ns.
F
i
gure
1
1
. P
ropel
l
er
spee
d
0
500
1000
1
500
2000
2
500
-2
-1
.
5
-1
-0
.
5
0
0.
5
1
1.
5
x
1
0
4
Ti
m
e
(
s
)
P
o
w
e
r
(kW
)
0
50
0
100
0
150
0
20
00
2500
-2
0
0
-1
5
0
-1
0
0
-5
0
0
50
10
0
15
0
20
0
Ti
m
e
(
s
)
To
r
q
u
e
(
N
m
)
0
500
100
0
1500
200
0
2500
0
50
100
150
200
250
Ti
m
e
(
s
)
S
peed
(
r
ad/
s
)
0
50
0
10
00
1
500
2
000
2
500
0
10
20
30
40
50
60
Ti
m
e
(
s
)
S
p
eed
(
r
a
d
/
s
)
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
O
p
tim
iz
a
tio
n
of
t
h
e
f
u
e
l
e
c
o
n
o
m
y
and e
m
i
s
s
i
ons
for p
l
ug i
n
hyb
r
i
d
e
l
ec
tr
ic …
(J. S.
Norb
a
k
yah)
79
7
F
i
gure
1
2
. P
ropel
l
er
Torq
u
e
F
i
gure
1
3
p
lo
t
s
t
he
s
im
u
l
a
t
e
d
v
eh
ic
le
s
pee
d
a
nd
t
h
e
de
ma
nd
e
d
s
p
eed
f
o
r
t
h
e
K
T
d
r
iv
e
cy
cl
e
.
A
s
show
n,
t
he
t
w
o
c
urve
s
m
a
tc
h very
w
e
l
l
w
i
th
a
v
e
r
y
sm
al
l
er
ror
o
f
le
ss
tha
n
0
.0
5
m/s
be
tw
een t
he t
a
r
ge
te
d
a
n
d
ac
quir
e
d
spee
ds.
S
o
t
ha
t,
it
is
e
xp
ec
te
d
tha
t
t
he
P
H
E
RB
be
a
bl
e
t
o
pro
v
i
d
e
dri
v
e
pe
rform
a
nc
e
a
s
t
he
con
v
e
n
t
i
ona
l h
ybr
id b
oa
t
un
d
e
r
the a
c
tua
l
dr
i
ve
co
n
d
i
t
i
o
n
s.
F
i
gure
1
3
. A
c
t
ual a
nd
requ
ire
d
spee
d
5.
PHE
R
B OP
TIM
I
Z
A
TION
A
proc
ess
of
k
now
in
g
the
m
i
nimum
a
nd
m
a
xim
u
m
limi
t
s
of
a
n
ob
jec
tive
fu
nc
t
i
o
n
w
h
ile
a
t
the
sam
e
ti
m
e
s
at
is
fy
i
ng
ce
rtain
co
ns
tr
ain
s
on
the
de
sign
var
i
a
b
l
e
s
a
nd
a
l
so
s
e
l
ec
t
i
n
g
t
he
b
e
s
t
c
o
m
b
ina
tio
n
i
n
e
very
it
e
r
a
t
i
o
n.
I
n
th
is
s
t
u
dy
,
the
m
ode
l
i
n
t
he
l
oop
a
p
proac
h
a
re
u
sed
to
d
e
s
ign
op
t
i
m
i
z
at
ion
p
r
o
c
e
s
s.
F
i
r
stly
,
th
e
P
H
ERB
mo
del
simu
lat
i
o
n
d
e
v
el
o
p
ed
i
n
i
t
i
a
l
v
al
ues
o
f
t
he
d
esi
gn
v
aria
b
l
e,
a
n
d
f
r
o
m
th
i
s
v
al
ue
,
t
h
e
n
u
me
rica
l
val
u
es
o
f
t
h
e
ob
jec
t
i
v
e
f
unc
t
i
o
n
w
e
r
e
a
ppe
ar
.
I
n
t
h
is
c
a
s
e
,
t
h
e
va
l
u
e
o
f
f
uel
c
ons
u
m
pt
i
o
ns
a
n
d
e
m
i
ssio
n
dec
r
ea
se
,
w
h
ic
h
i
s
i
m
ita
t
e
d
b
y
f
our
p
a
r
am
et
er
s
i
n
c
l
ud
in
g
fue
l
u
sa
ge,
hy
dr
o-ca
rbon
(H
C
)
,
carbon
m
o
n
o
x
i
des
(
C
O
)
a
n
d
n
i
t
r
o
g
e
n
o
x
i
d
e
s
(
N
O
x
)
l
e
v
e
l
.
T
h
e
g
e
n
e
t
i
c
a
l
g
o
r
i
t
h
m
(
G
A
)
i
s
used
i
n
the
m
o
d
e
l-
base
d
de
sig
n
op
tim
iza
t
i
o
n.
I
t
ca
n
be
s
umm
a
r
i
z
e
d
briefl
y
a
s
i
ll
ustra
t
e
d
i
n
th
e
flow
c
h
ar
t
o
f
F
ig
ure
1
4
.
Ta
bl
e
3
s
h
ow
s
a
s
e
t
o
f
parameters
u
sed
in
t
his
resear
ch
[
9]-[11
]
.
The
obj
ective
is
t
o
mi
n
i
mize
t
he
f
ue
l
c
o
nsum
p
t
i
o
n
a
n
d
em
i
s
si
ons,
suc
h
a
s H
C
,
C
O
a
nd
N
O
x
,
of the
boa
t f
o
r th
e
K
T
dr
i
ve
cyc
le.
The
i
n
itia
l va
lu
e of de
s
i
gn
variab
les
give
n i
n
Ta
b
l
e
4 are
si
m
u
la
t
e
d i
n
P
H
E
RB mode
l.
Table
4 sh
o
w
s
the
six
des
i
gn
var
i
a
b
les
u
s
ed
i
n
t
h
is
s
t
u
d
y
.
E
ach
d
es
ig
n
va
ri
ab
l
e
i
s
a
l
s
o
r
e
s
t
r
i
c
t
e
d
w
i
t
h
i
n
a
l
o
w
e
r
a
n
d
a
n
u
p
p
e
r
b
oun
d
were
s
ta
t
e
d
in
T
abl
e
5
.
Th
e
f
u
el
c
on
su
m
p
t
i
o
n
and
e
m
i
s
sion
s
w
e
re
obser
ve
d
fo
r
K
T
d
rive
c
y
c
l
e
.
A
com
p
aris
on
o
f
t
h
e
f
u
el
e
c
o
n
o
m
y
a
nd
em
i
s
si
ons
b
efore
a
n
d
a
f
ter
t
he
opt
im
i
z
a
t
i
o
n
is
g
i
v
e
n
i
n
Ta
b
l
e
6.
A
sign
ifica
n
t
imp
r
o
v
e
m
e
n
t in t
h
e
f
uel use
d
an
d
em
i
ssio
n
s is ac
h
ie
ve
d
by o
p
t
i
m
iza
t
i
o
n.
Ta
bl
e
3
.
Pa
r
am
et
e
r
u
s
e
d
in
GA
P
a
ra
m
e
te
rs
V
a
l
u
e
P
opula
t
ion
size
0
0
C
r
ossove
r
pro
b
a
b
i
lity
70%
M
u
t
a
t
i
on
proba
bil
ity
1
.
75%
M
a
xi
m
u
m
g
e
n
e
ra
tion
c
ounte
d
200
0
50
0
1
000
15
00
2
000
2
500
-1
0
0
0
-5
0
0
0
50
0
10
00
Ti
m
e
(
s)
T
o
rque
(
N
m
)
0
50
0
10
00
15
00
20
00
2
500
-2
0
2
4
6
8
10
12
14
16
Ti
m
e
(
s
)
S
peed (
k
m
/
h
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
n
t
J Po
w
Elec
&
Dr
i
Sy
st,
Vo
l. 1
0
,
No
. 2
,
Ju
n
e
2
019
:
7
9
2
–
8
00
79
8
F
i
gur
e
1
4
.
F
l
ow
c
h
ar
t
of
G
A
Tab
l
e
4. I
ni
t
i
al
D
esign
Var
i
a
b
les
De
sign v
a
ri
a
b
le
I
ni
tia
l
v
a
lue
I
C
E
powe
r
r
a
ting
20
kW
EM
powe
r
r
a
t
i
ng
30
kW
Mini
m
u
m
Ba
tt
e
r
y
S
O
C
a
l
l
o
we
d
0
.
2
M
a
xi
m
u
m Ba
tte
ry SOC a
llowe
d
0
.8
Mini
m
u
m Ultr
ac
apa
c
i
t
o
r
S
O
C
a
llowe
d
0
.2
M
a
xi
m
u
m Ultr
a
c
a
p
ac
itor SOC a
l
low
e
d
0
.8
Ta
ble
5.
U
pper
and
Low
e
r
Bo
und
D
e
si
gn
V
a
r
i
ab
les
D
e
si
gn
v
a
ri
a
b
le
L
owe
r
bound
U
ppe
r bound
IC
E
powe
r
r
a
ting
2700
0
3300
0
E
M
powe
r
r
a
t
ing
1800
0
2200
0
Ma
xi
m
u
m
Ba
tt
e
r
y S
O
C
a
l
l
o
we
d
0
.
7
2
0.
88
Minim
u
m
Ba
tt
e
r
y
SO
C a
llowe
d
0.
08
0
.
2
2
M
a
xi
m
u
m Ultr
ac
apa
c
i
t
o
r
S
O
C
a
llowe
d
0
.72
0.88
Minim
u
m Ul
tr
ac
apac
itor SOC a
llowe
d
0.08
0
.22
Ta
b
l
e
6.
F
u
e
l U
s
ed
a
nd
Emis
sions
C
om
par
i
son
D
e
sc
ription
B
e
for
e
opti
m
i
z
at
ion
Afte
r
optim
i
z
a
tion
F
u
e
l
u
s
e
d
(
g
)
205.
90
192.
5
0
H
C
(
g)
0
.
5642
0
.
454
5
C
O
(
g)
0
.
4434
0
.
301
1
N
O
x
(
g)
0
.
7796
0
.
625
P
M
(
g)
0
.
000
0
.
000
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
O
p
tim
iz
a
tio
n
of
t
h
e
f
u
e
l
e
c
o
n
o
m
y
and e
m
i
s
s
i
ons
for p
l
ug i
n
hyb
r
i
d
e
l
ec
tr
ic …
(J. S.
Norb
a
k
yah)
79
9
Ta
b
l
e
7
sh
ow
s
the
fina
l
va
l
u
es
o
f
t
h
e
si
x
d
e
si
gn
var
i
ab
les
afte
r
op
t
i
miz
a
tio
n.
I
t
is
s
ho
w
n
t
ha
t
t
h
e
rati
ng
of
t
he
E
M
i
s
g
re
at
l
y
r
educ
e
d
,
imp
l
y
i
ng
tha
t
d
ow
n-si
zin
g
of
t
he
E
M
ha
s
be
e
n
a
c
h
ie
ve
d.
O
n
the
ot
her
han
d
,
the I
C
E
i
s
dow
n-siz
e
d
t
o
a
l
esser
exten
t
.
Tab
l
e
7.
F
inal de
s
i
g
n
varia
b
le
v
alue
s
De
sign
v
a
ria
b
le
GA
I
C
E
powe
r
r
a
t
i
n
g
18 kW
E
M
powe
r
r
a
ting
32 kW
Mi
n
i
m
u
m
Bat
t
e
r
y
SO
C
al
lo
w
e
d
0
.7
2
Ma
xi
m
u
m
Ba
tte
ry SOC a
llowe
d
0
.2
1
Mini
m
u
m Ultr
ac
apa
c
i
tor
S
O
C
a
llowe
d
0
.7
2
M
a
x
i
m
u
m
U
l
tr
ac
ap
a
c
i
t
o
r
S
O
C
all
o
w
e
d
0
.1
4
6.
CONCL
U
S
ION
The
re
su
l
t
s
of
boa
t
su
bs
yste
m
s
i
n
term
s
of
E
S
S
c
urre
nt,
vo
l
t
age
a
n
d
o
u
t
pu
t
pow
e
r
,
an
d
E
M
s
pee
d
,
tor
que
a
n
d
p
o
w
er,
a
r
e
w
i
th
i
n
r
ea
so
na
bl
e
a
n
d
e
x
pec
t
e
d
r
a
nge.
T
h
e
c
ompo
ne
nts
of
t
he
b
oat
su
bs
ys
te
ms
a
r
e
corr
ectl
y
s
i
z
ed
t
o
a
c
h
ieve
t
h
e
g
o
o
d
p
e
rfor
m
a
n
ce
at
t
arg
e
t
ve
loc
it
y.
I
t
ca
n
be
c
o
n
cl
u
d
e
d
t
h
a
t
r
esu
l
t
s
o
f
the
PPH
ERB
m
o
d
e
l
are
c
o
rre
ct.
Base
d
o
n
t
he
o
ptim
iza
t
io
n
res
u
l
t
s,
t
h
e
fol
l
o
w
i
ng
ob
s
e
rv
ati
o
n
s
can
b
e
ma
de
.
Th
e
fue
l
u
se
d
of
t
h
e
P
H
E
RB
i
s
d
e
c
r
ea
se
d
an
d
t
h
e
e
m
iss
i
on
s
o
f
H
C,
C
O
a
n
d
N
O
x
a
r
e
d
e
c
r
e
a
s
e
d
a
s
w
e
l
l
w
i
t
h
t
h
e
G
A
optim
i
z
a
t
i
o
n.
The
p
ow
er
ra
ting
o
f
the
IC
E
a
nd EM a
re
r
educ
e
d
sign
i
fi
ca
n
tly
.
ACKNOW
LEDG
E
MEN
T
S
The
a
u
thor
s
w
o
u
l
d
li
ke
t
o
be
o
bli
g
e
d
t
o
U
n
ive
r
si
t
i
M
a
l
ays
i
a
Ter
engganu
(UMT)
f
o
r
UMT
S
c
hol
a
r
s
h
ip,
Min
i
s
t
r
y
o
f
Ed
uca
t
i
on
M
a
lay
s
i
a
f
or
p
r
o
v
i
di
ng
fi
na
n
cia
l
a
s
s
i
s
tanc
e
un
der
F
R
G
S
(
593
53
)
grant
a
n
d
S
c
h
ool
o
f
Oce
a
n
E
ng
i
n
ee
ri
ng
,
U
M
T
f
o
r
a
l
l
t
h
ei
r
t
e
c
h
ni
c
a
l
a
n
d
rese
arc
h
s
upp
or
t
f
o
r
t
h
is
w
or
k
t
o
b
e
successfully
c
omplet
e.
REFE
RENCES
[1]
Mi
nami
,
S.
,
an
d
N.
Y
am
achi
k
a,
“
A
pract
ical
t
heory
o
f
t
h
e
p
erfor
m
a
nce
of
l
ow
v
elo
c
ity
b
oat
”
,
Jo
ur
nal
of Asian
Elect
r
i
c Veh
i
cles
, Vo
l
.
2,
No
. 1
, p
p
.
53
5-5
3
9
, 20
0
4
.
[2]
Mi
nami
,
S
.
,
and
N.
Y
am
ach
ika,
“
Ex
peri
mental
p
e
r
f
o
rm
ance
o
f
a
m
o
d
e
l River cruis
i
n
g
e
l
ectri
c
bo
at e
l
ectri
c-pow
ered
by
a f
u
el
Ce
l
l
”
,
Jou
r
n
a
l of As
ia
n
E
l
ect
r
i
c
Veh
i
cles
, Vo
l
. 1
, No
. 2
, p
p.4
7
5
-
47
7, 2
00
3
.
[3]
Mi
nami
,
S
.
,
“Des
ignin
g
the r
iv
er
c
rui
s
e
el
ectric bo
at”,
Jo
ur
na
l of
As
i
a
n
Electric Vehi
cles
,
Vo
l.
1
,
No.
1,
p
p
.
13
1-1
3
8,
200
3.
[4]
M
i
n
a
m
i
,
S
.
,
T
.
T
o
k
i
,
N
.
A
b
d
u
l
R
a
h
m
a
n
S
,
W
a
l
k
e
r
P
.
D
.
,
Z
h
a
n
g
N
.
,
Z
h
u
.
J
.
G
,
a
n
d
D
u
H
.
“
A
C
o
m
p
a
r
a
t
i
v
e
S
t
u
d
y
o
f
Vehi
cle D
r
iv
e Perf
orm
a
nce
an
d E
n
erg
y
Efficien
cy”.
Susta
in
able A
u
tomo
ti
ve
T
echn
o
lo
gi
es
. Pp
.
31
9
-
32
4; 20
1
2
.
[5]
Yos
h
i
k
aw
a
,
M
.
Hanada,
S.
A
s
h
ida,
K
.
K
i
t
a
da,
an
d
J.
T
su
kud
a,
“
A
N
e
w
l
y
Develop
e
d
P
l
u
g
-i
n
Hybri
d
E
l
ectri
c
Bo
at
(PH
E
B)”,
J
o
ur
n
a
l of As
i
a
n
El
ectr
i
c
V
e
hi
c
l
es
,
Vol.
8
,
N
o
.
1
,
p
p
.
1383-
139
2,
2
0
11.
[6]
S
a
l
i
s
a
A
R
,
N
o
r
b
a
k
y
a
h
J
S
,
a
n
d
A
t
i
q
W
H
.
“
A
C
o
n
c
e
p
t
u
a
l
D
e
s
i
g
n
o
f
M
a
i
n
Co
mpo
n
e
nts
Si
z
i
ng
F
or
P
HER
B
Powert
rain”.
Jurna
l
T
ekn
olo
g
i
.
201
5
[7]
Norb
aky
a
h
J
S
,
A
t
i
q
W
H,
and S
a
lis
a
A
R
.
“P
ow
e
r
r
equ
i
rem
e
nt
s fo
r
P
HE
RB
powert
rain.
”
IOP
Conf.
Seri
es: M
a
t
e
rial
s
Scien
ce an
d E
ngin
eerin
g
10
0
. 20
1
5
.
[8]
K.
S
o
m
sai,
A
.
Oo
ns
ivil
a
i
,
A.
S
rikaew
a
nd
T
.
Ku
lw
orawan
ich
pon
g,
“
O
ptim
al
P
I
Co
ntro
ll
er
D
es
ig
n
an
d S
i
m
u
l
a
ti
on
of
a
S
t
at
ic
V
ar
C
om
p
e
nsat
or
u
si
ng
M
A
TLA
B’s
S
I
M
U
L
I
NK
,
”
Pr
o
ceed
in
gs
of
th
e 7
t
h
W
S
EAS
Int
e
rnat
io
na
l
Co
nfer
en
ce
on Power
Sys
t
e
m
s
,
Be
iji
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g
, Ch
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a
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Sep
t
ember 1
5
–
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7,
2
20
7,
pp
30
– 3
5.
[9]
Ab
du
l
R
a
hma
n
S
,
Wa
lke
r
P
D
,
Z
ha
n
g
N
,
Zhu
JG,
a
n
d
Du
H
.
“A
C
omp
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S
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Vehi
cle
Dri
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P
e
rf
orm
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and
Energ
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Effici
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Su
st
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le A
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o
m
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es
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2
0
1
2
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19
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[10]
Ab
du
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Zh
a
n
g
N.
,
a
n
d
Zh
u.
J
.
G
.
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lgo
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fo
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T
S
Pl
ug-in
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E
l
ectric
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Param
e
t
e
r
Optimi
zati
on
Ab
d
u
l
Rahm
an.
”
13th Asia Paci
fic
Vibration
C
o
n
f
erence
. 2
00
9.
[11]
S
i
dh
arth
a
P
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nd
a
and
N
a
ra
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na
P
ras
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d
Pad
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A
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I
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Bas
ed
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od
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In
finite-Bu
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A
,
”
Inter
n
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t
i
ona
l Jo
ur
na
l o
f
Com
p
u
t
er
Scni
ece an
d
En
gine
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r
in
g
,
pp 50
-
59
;
200
7.
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BIOGRAPHI
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