| Summary: | This paper presents two nonlinear model predictive control (MPC) methods for the integrated propulsion and cabin-cooling management of electric vehicles. An air-conditioning (AC) model, which has previously been validated on a real system, is used to accomplish system-level optimization. To investigate the optimal solution for the integrated optimal control problem (OCP), we first build an MPC, referred to as a joint MPC, in which the goal is to minimize battery energy consumption while maintaining cabin-cooling comfort. Second, we divide the integrated OCP into two small-scale problems and devise a co-optimization MPC (co-MPC), where speed planning on hilly roads and cabin-cooling management with propulsion power information are addressed successively. Our proposed MPC methods are then validated through two case studies. The results show that both the joint MPC and co-MPC can produce significant energy benefits while maintaining driving and thermal comfort. Compared to regular constant-speed cruise control that is equipped with a proportion integral (PI)-based AC controller, the benefits to the battery energy earned by the joint MPC and co-MPC range from 2.09% to 2.72%. Furthermore, compared with the joint MPC, the co-MPC method can achieve comparable performance in energy consumption and temperature regulation but with reduced computation time.
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