A Model Review for Controller-Hardware-in-the- Loop Simulation in EV Powertrain Application

This article summarizes the state-of-the-art model for controller hardware-in-the-loop simulations (CHILs) used in electric vehicle (EV) powertrains. The main task is to discuss the model of the CHILs platform in two parts: the interfaced model and the powertrain model. The interfaced model discusses the effect of the communication between the digital real-time simulator (DRTS) and the digital controller. In the powertrain model, the general modeling technologies of power sources (fuel cell and lithium battery), power electronic converters, and the electrical machine, as well as the application of field-programmable-gate-arrays (FPGAs), are thoroughly discussed. Based on the above aspects, the present CHIL cases reported in the literature of different electric powertrains are summarized and analyzed in detail. At last, this article presents the future outlook associated with model refinement, prognostics health management, and digital twin. The reader could comprehensively understand the relevant CHIL technologies in electrified transportation and future development.