« EMR AND INVERSION-BASED CONTROL€¦ · Dr. Yuan CHENG, Prof. Alain BOUSCAYROL, Dr. Rochdi...

EMRrsquo11

Lausanne

July 2011

Joint Summer School EMRrsquo11

ldquoEnergetic Macroscopic Representationrdquo

laquo EMR AND INVERSION-BASED CONTROL

OF SERIES-PARALLEL HEV WITH EVTraquo

Dr Yuan CHENG Prof Alain BOUSCAYROL Dr Rochdi TRIGUI

Prof Christophe ESPANET Prof Shumei CUI

IEET Harbin Institute of Technology China L2EP University of Lille 1 France

LTE IFSTTAR Lyon France FEMTO-STUniversiteacute de Franche-Comteacute France

MEGEVH French Network on HEVs France

chengyuanhiteducn

EMRrsquo11 Lausanne July 2011 2

laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo

- Outline -

1 Introduction

bull MEGEVH-EVT Project

bull Series-Parallel HEV

bull PM-EVT Design

2 EMR and Inversion-based Control

bull EMR Modeling

bull Inversion-based Control

bull Simulation Results

3 Conclusion

EMRrsquo11

Lausanne

July 2011



laquo Introduction raquo



- MEGEVH-EVT -

MEGEVH-EVT Project

Objectives

To develop a series-parallel hybrid electric vehicle (SP-HEV) using the EVT concept

To compare the EVT-HEV with Toyota Prius II in terms of fuel economy limits etc

Development of a collaboration between France and China

EVT



MG2

PG ICE

MG1

INV1

INV2

Veh

BAT ΩICE=k1ΩMG1+ k2ΩMG2

ΩMG2= ktvveh ΩMG1

ΩICE ΩMG2

vveh

Ring

Carrier

Sun

Series-Parallel HEV

-- Toyota Prius

ΩMG1

ΩMG2

ΩICE

- Series-Parallel HEV -

[Miller 06]



Series-Parallel HEV

-- EVT


Veh

ICE

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator

OR

IR

BAT

EVT functions

bull CVT

bull Starter

bull Generator

bull Clutch

[Hoeijmakers 06]

EVT consists of

bull EM1 with 2 rotors

bull EM2

Electric Variable Transmission (EVT)



Series-Parallel HEV

-- EVT


INV1 INV2

EM1 EM2

Shaft 2 Shaft 1

Twh

Ωwh

ICE

Veh

TICE

ΩICE

BAT

Stator

Outer Rotor

Inner Rotor

~

=

=

~

Battery

+ minus

Stator

Outer Rotor

Inner Rotor

Primary

shaft

Secondary

shaft

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

Stator OR IR



Prius simulation

4 driving cycles Max Acc Highway

Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300

400EM2 torque-speed characteristics

speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)

Trat=120Nm Prat= 25kW

Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW

EVT steady-state model

Tmax=120Nm Pmax= 25kW

Specifications

Definition

Slotless Design Slots amp Windings Parameters for

Control

bull Prius simulation

bull EVT static model

bull Eqs amp constrains

bull Magnetic interference

analysis

bull Back EMF

bull Ampere turns

bull Slot amp winding

bull EMR Modeling

bull Compare with Prius

- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage

Resistance per phase

Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011



laquo EMR Modeling and

Inversion-based Controlraquo



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1

B AT Fuel tank ICE Trans

VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT

[Cheng 08] [Chen 08]



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1

BAT Fuel tank ICE Trans

VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf

slopeFFFF airfres BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref

5 tuning variables ms1 _ref ms2_ref and TICE_ref

for - 1 objective vhev

- 2 constraints flux of both machines

- 2 degrees of freedom

(TICE_ref and ΩICE_ref)

ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

- Inversion-based Control -



vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot


EMRrsquo11 summer school Lausanne July 2011 19


- Simulation amp Results -

Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref

inversion of force coupling

T1_ref

Tt_ref

T2_ref

inversion of Mechanical coupling_2

T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref

controller of velocity2

vvh_mes1

vvh_ref1

Ftot_ref

controller of velocity

F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22

Mechanical coupling_2

Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1

Inversion of wheelsInversion of Reduction gear

alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100

150Vehicle Speed(kmh)

Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0

250EM2 id current(A)

Time(s)



- Conclusion -

EVT is a highly integrated series-parallel HEV powertrain which optimizes

power flows in an electromechanical way rather than in a mechanical way

PM-EVT has been widely studied because of higher efficiency and torque

density A PM-EVT has been designed based on the parameters of Toyota

Prius II and for future comparison

EMR is used in the modeling and simulation which makes the power flows

clear and the design and tuning jobs of the controllers easier

Future work includes

PM-EVT optimization

Energy management strategy

Detailed comparison with Prius II Veh

ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _



Power Machine EM1 machine EM2 Machine Load Machine

dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011



laquo REFERENCES raquo



- References -

[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006

[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006

[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet

electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5

[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5

[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6



- Outline -

1 Introduction

bull MEGEVH-EVT Project

bull Series-Parallel HEV

bull PM-EVT Design

2 EMR and Inversion-based Control

bull EMR Modeling

bull Inversion-based Control

bull Simulation Results

3 Conclusion

EMRrsquo11

Lausanne

July 2011






- MEGEVH-EVT -

MEGEVH-EVT Project

Objectives




EVT



MG2

PG ICE

MG1

INV1

INV2

Veh


ΩMG2= ktvveh ΩMG1

ΩICE ΩMG2

vveh

Ring

Carrier

Sun

Series-Parallel HEV

-- Toyota Prius

ΩMG1

ΩMG2

ΩICE


[Miller 06]



Series-Parallel HEV

-- EVT


Veh

ICE

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator

OR

IR

BAT

EVT functions

bull CVT

bull Starter

bull Generator

bull Clutch

[Hoeijmakers 06]

EVT consists of


bull EM2




Series-Parallel HEV

-- EVT


INV1 INV2

EM1 EM2

Shaft 2 Shaft 1

Twh

Ωwh

ICE

Veh

TICE

ΩICE

BAT

Stator

Outer Rotor

Inner Rotor

~

=

=

~

Battery

+ minus

Stator

Outer Rotor

Inner Rotor

Primary

shaft

Secondary

shaft

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

Stator OR IR



Prius simulation


Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300


speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)


Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW



Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -







EMRrsquo11

Lausanne

July 2011






- MEGEVH-EVT -

MEGEVH-EVT Project

Objectives




EVT



MG2

PG ICE

MG1

INV1

INV2

Veh


ΩMG2= ktvveh ΩMG1

ΩICE ΩMG2

vveh

Ring

Carrier

Sun

Series-Parallel HEV

-- Toyota Prius

ΩMG1

ΩMG2

ΩICE


[Miller 06]



Series-Parallel HEV

-- EVT


Veh

ICE

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator

OR

IR

BAT

EVT functions

bull CVT

bull Starter

bull Generator

bull Clutch

[Hoeijmakers 06]

EVT consists of


bull EM2




Series-Parallel HEV

-- EVT


INV1 INV2

EM1 EM2

Shaft 2 Shaft 1

Twh

Ωwh

ICE

Veh

TICE

ΩICE

BAT

Stator

Outer Rotor

Inner Rotor

~

=

=

~

Battery

+ minus

Stator

Outer Rotor

Inner Rotor

Primary

shaft

Secondary

shaft

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

Stator OR IR



Prius simulation


Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300


speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)


Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW



Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









- MEGEVH-EVT -

MEGEVH-EVT Project

Objectives




EVT



MG2

PG ICE

MG1

INV1

INV2

Veh


ΩMG2= ktvveh ΩMG1

ΩICE ΩMG2

vveh

Ring

Carrier

Sun

Series-Parallel HEV

-- Toyota Prius

ΩMG1

ΩMG2

ΩICE


[Miller 06]



Series-Parallel HEV

-- EVT


Veh

ICE

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator

OR

IR

BAT

EVT functions

bull CVT

bull Starter

bull Generator

bull Clutch

[Hoeijmakers 06]

EVT consists of


bull EM2




Series-Parallel HEV

-- EVT


INV1 INV2

EM1 EM2

Shaft 2 Shaft 1

Twh

Ωwh

ICE

Veh

TICE

ΩICE

BAT

Stator

Outer Rotor

Inner Rotor

~

=

=

~

Battery

+ minus

Stator

Outer Rotor

Inner Rotor

Primary

shaft

Secondary

shaft

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

Stator OR IR



Prius simulation


Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300


speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)


Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW



Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









MG2

PG ICE

MG1

INV1

INV2

Veh


ΩMG2= ktvveh ΩMG1

ΩICE ΩMG2

vveh

Ring

Carrier

Sun

Series-Parallel HEV

-- Toyota Prius

ΩMG1

ΩMG2

ΩICE


[Miller 06]



Series-Parallel HEV

-- EVT


Veh

ICE

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator

OR

IR

BAT

EVT functions

bull CVT

bull Starter

bull Generator

bull Clutch

[Hoeijmakers 06]

EVT consists of


bull EM2




Series-Parallel HEV

-- EVT


INV1 INV2

EM1 EM2

Shaft 2 Shaft 1

Twh

Ωwh

ICE

Veh

TICE

ΩICE

BAT

Stator

Outer Rotor

Inner Rotor

~

=

=

~

Battery

+ minus

Stator

Outer Rotor

Inner Rotor

Primary

shaft

Secondary

shaft

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

Stator OR IR



Prius simulation


Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300


speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)


Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW



Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









Series-Parallel HEV

-- EVT


Veh

ICE

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator

OR

IR

BAT

EVT functions

bull CVT

bull Starter

bull Generator

bull Clutch

[Hoeijmakers 06]

EVT consists of


bull EM2




Series-Parallel HEV

-- EVT


INV1 INV2

EM1 EM2

Shaft 2 Shaft 1

Twh

Ωwh

ICE

Veh

TICE

ΩICE

BAT

Stator

Outer Rotor

Inner Rotor

~

=

=

~

Battery

+ minus

Stator

Outer Rotor

Inner Rotor

Primary

shaft

Secondary

shaft

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

Stator OR IR



Prius simulation


Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300


speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)


Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW



Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









Series-Parallel HEV

-- EVT


INV1 INV2

EM1 EM2

Shaft 2 Shaft 1

Twh

Ωwh

ICE

Veh

TICE

ΩICE

BAT

Stator

Outer Rotor

Inner Rotor

~

=

=

~

Battery

+ minus

Stator

Outer Rotor

Inner Rotor

Primary

shaft

Secondary

shaft

W

W

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

Stator OR IR



Prius simulation


Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300


speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)


Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW



Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









Prius simulation


Urban Road

ICE

W

W

PM+PM Veh

ΩEM1= Ωwh - ΩICE

TEM1= TICE

ΩEM2= Ωwh

TEM2= Twh - TICE

EM1

EM2

0 1000 2000 3000 4000 5000 6000 7000-400

-300

-200

-100

0

100

200

300


speed(rpm)

torq

ue

(Nm

)

-3000 -2000 -1000 0 1000 2000 3000 4000-40

-20

0

20

40

60

80

100


speed(rpm)

torq

ue

(Nm

)


Trat=100Nm

Prat= 21kW

Tmax=380 Nm

Pmax=48kW



Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


- PM-EVT Design -



1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









1st Design

is1_dq _ref

vdc

ΩEM

2

TEM

1

TEM

1 ΩEM2

Ttot

ΩEM1

iinv

vdc

us2

iinv2 ms2_ref

ms1_ref

us1

iinv1

es2_dq is2_dq

vs2_dq is2_dq Tem2

es1_dq is1_dq

vs1_dq is1_dq TEM

1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩIC

E

TICE

TICE_ref

Ftot

ΩEM2

Ttot_ref

Tem1_ref

Tem1_ref

Tem2_ref

vs1_dq _ref

us1_ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq _ref

PWM

ms2_ref

FOC

ΩICE_ref

Tem1_ref

TICE_ref

Fres vhev

vhev

vhev_ref Ftot_ref

vhev_mea

Mechanical

coupling

DC bus Parallel

Connection

Inverters

θds2

PMSM machines Trans

Wheels

Environ Chassis

vdc

BAT ICE

MS

Rated voltage


Inductances (Ld=Lq)

PM flux linkage

220 V 220 V

115 mΩ 118 mΩ

264 mH 0654 mH

053Wb 043Wb

Specifications

Definition


Control





analysis

bull Back EMF

bull Ampere turns


bull EMR Modeling


EMR Modeling

EM1 EM2

[Cheng 10]

- PM-EVT Design -

EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -







EMRrsquo11

Lausanne

July 2011







- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM2

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

21

iablecommon var

invinvinv

dc

iii

v

222

22

111

11

ssinv

dcss

ssinv

dcss

imi

vmu

imi

vmu

BAT




- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

qsdr

r

rspem

dqssdqsdqsdqss

dqssds

ssddqs

iL

MnT

iRevidt

dL

iTi

uTv

_1_1

1

111

_11_1_1_11

_1

1

11

11_1

)]([

)]([

BAT

TEM2



- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









- EMR Modeling -

vdc

DC bus Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

TICE

ICE

TICE_ref

T l i inv

Split EVT

EM1

Stator1 Ω ICE

T EM2

Ω EM2

T EM1

i inv2

v dc

Rotor1 T ICE

i inv1


VSI 2

VSI 1

T EM1

Rotor2

Stator2

Spl it EVT

EM 2

BAT

ΩICE

TEM2



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

TEM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

TEM2

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds1

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

ICEEMEM

EMT

21

1 iablecommon var

- EMR Modeling -

BAT TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot

2

21

iablecommon var

EM

EMEMtot TTT



Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









Mechanical

coupling

Tl iinv

Split EVT

EM1

Stator1 ΩICE

TEM2

ΩEM2

T EM1

iinv2

vdc

Rotor1 TICE

iinv1


VSI 2

VSI 1

TEM1

2 Rotor2

Stator2

Split EVT

EM2

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

- EMR Modeling -

restotveh FFvdt

dM

)sin(

2

1

)cos(

2

MgF

vCSF

MgfF

slope

evxfrontairair

tf


TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot



TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









TICE_ref






ΩICE

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM

TICE_ref

ms1_ref

us1

θds2

TEM1_ref

TEM1_ref

ΩICE_ref

TEM1_ref

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot




vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









vs1_dq _ref

is1_dq_ref

us1 _ref

FOC PWM is1_dq_ref

ms1_ref

Ttot_ref

TEM1_ref

TEM1_ref

TEM2_ref

vs1_dq _ref

FOC PWM

us2_ref

vs2_dq _ref

is2_dq_ref

PWM

ms2_ref

FOC

ΩICE_ref

TEM1_ref

TICE_ref

vveh_ref Ftot_ref

vveh_mea

Mechanical

coupling

vdc

DC bus

ΩEM1

Parallel

connection

iinv

vdc

vdc

us2

Inverters

iinv2 ms2_ref

ms1_ref

us1 iinv1

θds2

es2_dq is2_dq

vs2_dq is2_dq

PMSM machines

es1_dq is1_dq

vs1_dq is1_dq TEM1

is2

is1

θds2

Shaft of ICE

ΩICE

ΩICE TICE

ICE

TICE_ref

Ftot

Trans

Wheels

Fres

MS

Environ Chassis

vveh

vveh

BAT

TEM2

TEM1

TEM1 ΩEM2

ΩEM2

ΩEM2 Ttot





Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -










Ttrans

vhev

Ftrans

w

wheels

Ft_refFtrans_ref


T1_ref

Tt_ref

T2_ref


T1_ref1

T1_ref11

T1_ref12


w 1_mes1

w 1_ref1

Tice_est

T1_ref


vvh_mes1

vvh_ref1

Ftot_ref


F_tot

F_res

v_ve

Vitesse

chassis

Scopes

Tt

W

Ttran

Wt

Reduction gear

Tice

Tem1

w 1

w ice

Primary shaft

PWM2

Uc_mes

U_ref 1

m_ref 1

PWM1

T1

T2

w 2

Tt

w 21

w 22


Tem1

w 1

w 2

T1

T11

w 2-w 1


u_bat

ms_2

is_EM2

us_EM2

i_inv2

Inverter2

u_bat

ms_1

is_EM1

us_EM1

i_inv1

Inverter1


alpha

WiceTiceMS

ICE

Ftract

vve2

Ftot

vve

Force coupling

V_veh F_resMS

Environ

u_pe

i_inv2

i_inv1

u_pe1

u_pe2

i_inv

Electrical coupling

is2_mes

w2_mes

Tem2_ref

u2_ref CV

EM2 Controller

us_EM2

w 2

Tem2

is_EM2

EM2

is1_mes

w2-w1_mes

Tem1_ref

u1_ref CV

EM1 Controller

us_EM1

w 2-w 1

Tem1

is_EM1

EM1

Driver

u_bat

i_pe

u_pe

i_t

DCDC

WICE_ref

TICE_ref

Control Strategy

WICE_mes

TICE_ref

alpha_ref

CommandeICE

I_t u_batES

Batteries




0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -










0 200 400 600 800 1000 12000

50

100


Time(s)

0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-50

-25

0

25

50EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40

-20

0

20

40Battery Power(kW)

Time(s)

0 200 400 600 800 1000 120060

80

100SOC()

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0


Time(s)



- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -









- Conclusion -









PM-EVT optimization



ICE

W

W PM

W EM2

EM1

TICE

ΩICE

Twh

Ωwh

INV1 INV2

Stator OR

IR

+ _




dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -










dSPACE

System

- Conclusion -

Thank you

EMRrsquo11

Lausanne

July 2011






- References -







EMRrsquo11

Lausanne

July 2011






- References -









- References -







« EMR AND INVERSION-BASED CONTROL€¦ · Dr. Yuan CHENG, Prof. Alain BOUSCAYROL, Dr. Rochdi...

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Transcript of « EMR AND INVERSION-BASED CONTROL€¦ · Dr. Yuan CHENG, Prof. Alain BOUSCAYROL, Dr. Rochdi...