« EMR AND CONTROL OF A SEGWAY BASED ON REVERSE … - EMR and control … · Segway PT i2 studied...

08/07/2016

1

EMR’16

UdeS - Longueuil

June 2016

Summer School EMR’16

“Energetic Macroscopic Representation”

« EMR AND CONTROL OF A SEGWAY

BASED ON REVERSE ENGINEERING »

Gianluca Dorian Petrucci1, Dr. Walter Lhomme2

1 Sapienza University of Rome, Italy2 L2EP, University of Lille1, MEGEVH network, France

EMR’16, UdeS Longueuil, June 20162

« EMR and Control of a Segway based on Reverse Engineering »

- Context of the study -

Context: Project CUMIN at University of Lille1 to have a Campus with 0

greenhouse gas emission to:

limit the access to the polluting vehicles;

use electric vehicles (VE);

charge electric vehicles by renewable energies;

instrument all the tested vehicles;

achieve a database open to every researcher.

Different kinds of electric vehicles:

electric car;

electric bicycle;

electric scooter;

Segway…

08/07/2016

2



- The Segway PT: a two-wheeled inverted pendulum -

Segway PT (Personal Transporter) = two-wheeled inverted pendulum

to transport a person

Many studies to guarantee the stability of the Segway’s technology: fuzzy control,

neural networks

state space controller

PID controller…

BUT, to our knowledge, no studies in energetic point of view

Evaluate the characteristics of the Segway PT (range, consumption…)

and their adaptability to everyday activities in the Campus

http://www.segway.com/



- Outline -

1. Architecture of the Segway

2. EMR and control of the Segway

3. Simulation results

4. Conclusion


08/07/2016

3

EMR’16

UdeS - Longueuil

June 2016



« 1. ARCHITECTURE OF THE SEGWAY »



- Architecture of the Segway: first idea -


No brakes: problem of safety

What happens if 1 electric drive is faulty?

The stability cannot be ensured

08/07/2016

4



- Architecture of the Segway: dismantling -

http://www.segwaymaui.com

gearbox

gearbox2 batteries

2 inverters

on the left

2 inverters

on the right

6 phases

elec. machine

6 phases

elec. machine



-1

-0.5

0

0.5

1

-0.25 -0.05 0.15

Ph1

PH2

PH3

- Architecture of the Segway: 6 phases electric machines -

Measurement of the EMF

for one group of windings

displacement of 120°

Two 3-phases

PMSM in one

-1

-0.5

0

0.5

1

-0.25 -0.15 -0.05 0.05 0.15 0.25

PH3

PH3'

Measurement of 1 EMF of a

winding for both groups

08/07/2016

5



- Architecture of the Segway: solution -

Redundancy of components for safety (no brakes)



- Architecture of the Segway: assumptions -

1 electric machine can be seen as 2 equivalent electric machines

08/07/2016

6

EMR’16

UdeS - Longueuil

June 2016



« 2. EMR AND CONTROL OF THE SEGWAY »



ROAD

Ftracvveh

vveh Fres

TemL

WgbL

FwhL

vwhL

TemR

WgbR

FwhR

vwhR

batteries electric drives chassistransmission

- EMR of the Segway -

TemL1

WgbL

ubat1

iinvL1TemL1-ref TemL2WgbL

iinvL2

ubat2

TemL2-ref

TemR1

WgbR

ubat1

iinvR1

TemR1-ref

TemR2-ref

TemR2

WgbR

ubat2

iinvR2

BAT1

ubat1

ibat1

BAT2

ubat2

ibat2

Assumption: the balancing mode

(pitch) is not taken into account

08/07/2016

7



- EMR and IBC of the Segway -

FwhRTemR

WgbR vwhR

BAT1

ubat1

ibat1

FwhLTemL

ROAD

Ftracvveh

vveh Fres

WgbL vwhL

TemR2-ref

BAT2

ubat2

ibat2

TemL1

TemL2

TemR1

TemR2

WgbL

WgbL

WgbR

WgbR

ubat1

ubat1

ubat2

iinvL1

iinvL2

ubat2iinvR1

iinvR2

kDR

TemR1-ref

kDL

TemL1-ref

TemL2-ref vveh-refFtrac-ref

kDwh

FwhR-ref

FwhL-ref

strategykDR

kDL

batteries electric drives chassistransmission

Normal operating mode

kDL = kDR = 0.5

Equi-distribution

kDwh = 0.5

TemR-ref

TemL-ref



- Strategy of the windings -

FwhRTemR

WgbR vwhR

BAT1

ubat1

ibat1

FwhLTemL

ROAD

Ftracvveh

vveh Fres

WgbL vwhL

strategy

vveh-refFtrac-ref

kDwh

TemR2-ref

BAT2

ubat2

ibat2

TemL1

TemL2

TemR1

TemR2

WgbL

WgbL

WgbR

WgbR

ubat1

ubat1

ubat2

iinvL1

iinvL2

ubat2iinvR1

iinvR2

TemR-refkDR

TemR1-ref

TemL-refkDL

TemL1-ref

TemL2-ref

FwhR-ref

FwhL-refkDR

kDL

kDR kDL

Windings

disabled

1 0 [0;1] R1

2 [0;1] 0 L1

3 1 [0;1] R2

4 [0;1] 1 L2

5 0 0 L1 and R1

6 0 1 L2 and R1

7 1 0 L1 and R2

8 1 1 L2 and R2

08/07/2016

8



FwhRTemR

WgbR vwhR

BAT1

ubat1

ibat1

FwhLTemL

ROAD

Ftracvveh

vveh Fres

WgbL vwhL

strategy

vveh-refFtrac-ref

kDwh

TemR2-ref

BAT2

ubat2

ibat2

TemL1

TemL2

TemR1

TemR2

WgbL

WgbL

WgbR

WgbR

ubat1

ubat1

ubat2

iinvL1

iinvL2

ubat2iinvR1

iinvR2

TemR-refkDR

TemR1-ref

TemL-refkDL

TemL1-ref

TemL2-ref

FwhR-ref

FwhL-refkDR

kDL

kDR kDL

Windings

disabled

1 0 [0;1] R1

2 [0;1] 0 L1

3 1 [0;1] R2

4 [0;1] 1 L2

5 0 0 L1 and R1

6 0 1 L2 and R1

7 1 0 L1 and R2

8 1 1 L2 and R2




FwhRTemR

WgbR vwhR

BAT1

ubat1

ibat1

FwhLTemL

ROAD

Ftracvveh

vveh Fres

WgbL vwhL

strategy

vveh-refFtrac-ref

kDwh

TemR2-ref

BAT2

ubat2

ibat2

TemL1

TemL2

TemR1

TemR2

WgbL

WgbL

WgbR

WgbR

ubat1

ubat1

ubat2

iinvL1

iinvL2

ubat2iinvR1

iinvR2

TemR-refkDR

TemR1-ref

TemL-refkDL

TemL1-ref

TemL2-ref

FwhR-ref

FwhL-refkDR

kDL

kDR kDL

Windings

disabled

1 0 [0;1] R1

2 [0;1] 0 L1

3 1 [0;1] R2

4 [0;1] 1 L2

5 0 0 L1 and R1

6 0 1 L2 and R1

7 1 0 L1 and R2

8 1 1 L2 and R2


08/07/2016

9



FwhRTemR

WgbR vwhR

BAT1

ubat1

ibat1

FwhLTemL

ROAD

Ftracvveh

vveh Fres

WgbL vwhL

strategy

vveh-refFtrac-ref

kDwh

TemR2-ref

BAT2

ubat2

ibat2

TemL1

TemL2

TemR1

TemR2

WgbL

WgbL

WgbR

WgbR

ubat1

ubat1

ubat2

iinvL1

iinvL2

ubat2iinvR1

iinvR2

TemR-refkDR

TemR1-ref

TemL-refkDL

TemL1-ref

TemL2-ref

FwhR-ref

FwhL-refkDR

kDL

kDR kDL

Windings

disabled

1 0 [0;1] R1

2 [0;1] 0 L1

3 1 [0;1] R2

4 [0;1] 1 L2

5 0 0 L1 and R1

6 0 1 L2 and R1

7 1 0 L1 and R2

8 1 1 L2 and R2


torque

speed

2 EM

1 EM

EMR’16

UdeS - Longueuil

June 2016



« 3. SIMULATION RESULTS »

08/07/2016

10



kDL kDR

ibat1 (A)

iinvL1 (A) iinvR1 (A)

ibat2 (A)

iinvL2 (A)

iinvR2 (A)

- Simulation results in fault-tolerant mode -

Assumption: hed = 90%vveh (km/h)



kDL kDR

ibat1 (A)


ibat2 (A)

iinvL2 (A)

iinvR2 (A)


Assumption: hed = 90%vveh (km/h)

08/07/2016

11



vveh (km/h)

kDL kDR

ibat1 (A)


ibat2 (A)

iinvL2 (A)

iinvR2 (A)


Assumption: hed = 90%

EMR’16

UdeS - Longueuil

June 2016



« 4. CONCLUSION »

08/07/2016

12



- Conclusion -

Segway PT i2 studied for the first time from energy point of view

Innovative architecture with 2 « double » electric machines

EMR helps to deduce the complex control

Several strategies conceivable in fault-tolerant mode (or not)

Perspectives

Instrumentation of a real Segway for characterization (efficiency map

of the electric drives, battery…)

Simulation tool for different scenarios (mass, cycle…)

Taken into account of the balancing mode (pitch)

EMR’16

UdeS - Longueuil

June 2016



« BIOGRAPHIES AND REFERENCES »

08/07/2016

13



- Authors -

Dr. Walter LHOMME

University Lille 1, L2EP, MEGEVH, France

PhD in Electrical Engineering at University of Lille1 (2007)

Research topics: EMR, HIL simulation, EVs and HEVs,

Energy Storage Subsystem, Traction subsystems,

Mr. Gianluca Dorian Petrucci

Sapienza University of Rome, Italy

Master in Electrical Engineering at Sapienza Univ. of Rome (2016)

Research topics: EMR, Segway



- References -

[1] The Segway Personal Transporter (PT), website of Segway, consulted in March 2016,

http://www.segway.ch/en/infos/funktionsweise.php

[2] EMR website, http://www.emrwebsite.org/

[3] A. Bouscayrol, J. P. Hautier, B. Lemaire-Semail, “Graphic formalisms for the control of

multiphysical energetic systems”, Systemic design methodologies for electrical

engineering, vol. 1, chapter 3, October 2012

[4] J. D. Heinzmann, J. B. Morrell, G. B. Yun, “Motor amplifier and controller for a personal

transporter”, United States Patent, no. 6.288.505 B1, September 2001

[5] T. Letrouve, A. Bouscayrol,W. Lhomme, N. Dollinger, F. M. Calvairac, “Different models

of a traction drive for an electric vehicle simulation”, IEEE-VPPC’10, Lille (France) ,

Sept. 2010

[6] C. Hottois, C. Lecoeuvre, B. Pavé, “Energetic study of a Segway”, Master thesis of the

University of Lille 1, May 2015

[7] G. D. Petrucci, W. Lhomme, I. Dekik, F. G. Capponi, “Energy management of a Segway

PT i2 using Energetic Macroscopic Representation”, IEEE-VPPC 2016, Hangzhou

(China), Oct. 2016

08/07/2016

14



iconv

ubatWsh

sconv

EM

Wsh-meaubat-mea

control

Tem-ref

Tem

Tem-ref

ubat Tem

Wshiconv

em shconv k

bat ed

Ti

u

W

h

sconv_ref

iconv iem

uconv

electric machineconverter

iem Tem

Wsh

Tem_refiem_ref

ubat

uconv_ref

eem

- EMR of the equivalent electric drives -

Tem (Nm)

Wsh (rpm)

torque

speed

« EMR AND CONTROL OF A SEGWAY BASED ON REVERSE … - EMR and control … · Segway PT i2 studied...

Documents

Transcript of « EMR AND CONTROL OF A SEGWAY BASED ON REVERSE … - EMR and control … · Segway PT i2 studied...