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EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
«« Energetic Macroscopic Energetic Macroscopic
RepresentationRepresentation »»
Dr. Walter LHOMME, Prof. Betty LEMAIRE-SEMAIL,
Prof. Alain BOUSCAYROL
L2EP, University Lille1, France, MEGEVH network
Dr. Philippe BARRADE
Laboratoire d’Electronique Industrielle, EPFL, Switzerland
EMR’13, Lille, Sept. 20132
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Outline -
1. Introduction
2. Representation: EMR basic elements
• Sources
• Accumulation• Conversion• Coupling
3. Organization: fundamental rules
• Direct connections
• Merging rules • Permutation rules
4. Analysis for the simulation and the control
• Action and reaction paths
• Tuning path
5. Conclusion
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
«« IntroductionIntroduction»»
EMR’13, Lille, Sept. 20134
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- System analysis -
• Needs in graphical descriptions as valuable intermediary step
real
system
system
model
assumptio
ns
system
representation
no
assumptio
n
system
simulation
model
objective
limited
validity range
valuable
properties
behavior
study
assumptio
ns
organization prediction
EMR’13, Lille, Sept. 20135
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- System analysis -
• The graphical description is chosen depending on objectives
• Real-time control and energy management of energetic systems
systemic
(cognitive)
causal models
functional
descriptionstatic or
quasi-static
modelscausal
dynamical models
& forward
approach
EMR’13, Lille, Sept. 20136
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- System analysis -
• Objective: real-time control and energy management of energetic systems
real
system
representation
Model objective:
“control”
causal &
systemic
organization
Highlight energetic
and systems properties
prediction
dynamical
models
Real-time
control &
Energy
management
forward
approach
EMR’13, Lille, Sept. 20137
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Define the key elements of EMR
• Define the fudamental rules
– For connecting elements
– For solving conflicts of associations
• Define the notions of
– Action, reaction and tuning paths
• Assumption
– As EMR is an intermediary step, coming after a modeling activity, one will
consider that models are already defined…
- Objectives of the presentation -
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
««Representation: EMR basic Representation: EMR basic
elementselements»»
EMR’13, Lille, Sept. 20139
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Different elements -
• Energetic Macroscopic Representation
– Any energetic system
• Energy sources
• Energy storage elements
• Energy conversion elements
• Energy distribution elements
– Key elements
• energy storage element
– delay, state variable, closed-loop control
• energy distribution element
– power flow coupling, control with criteria
EMR’13, Lille, Sept. 201310
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Energy sources -
• Back to definitions
– System: interconnected subsystems organized for a common objective, in
interaction with its environment.
– Input: produced by environment, imposed to the system
– Output: consequence of the system evolution, imposed to its environment
– Interaction principle: each action induces a reaction
• Needs in defining an element representing the environment of a system,
and its links to the studied system
– According to the interaction principle
action
reaction
S2S1
power
EMR’13, Lille, Sept. 201311
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Definition of the environment
– Environment & System must be defined first
system 3
Environment 3unidirectional
system 1
Environment 1bidirectional
system 2
Environment 2bidirectional
- Energy sources -
i1
u13
u23
i2 v13
v23
vdc
iload
grid line diode rectifier
Border of the
system?
EMR’13, Lille, Sept. 201312
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Energy sources -
• Representation
– Terminal element which represents the environment of the studied system
• Generator or receptor
Sourceoval pictogrambackground: light greencontour: dark green1 input vector (dim n)1 output vector (dim n)
power system
reaction
actionupstream
source
downstream
sourcex1
y1
x2
y2
p1= x1. y1 p2= x2. y2
direction ofpositive power(convention)
∑=
=n
iii yx
1
EMR’13, Lille, Sept. 201313
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Energy sources -
• Examples
pload
qwind
wind
qwind [m3/s]
Pload [Pa]Wind
(air flow source)generator energy
VDC
iBat
VDC
iBattery
(voltage source)generator and
receptor of energy
IC engine(torque source)
generator of energy
Tice
ΩICE
Tice
Ω
gridu
i
=
23
13
u
uu
=
2
1
i
ii
2 independent currents!
2 independent voltages!
Electrical grid
(voltage source)
generator and receptor of energy
EMR’13, Lille, Sept. 201314
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Accumulation elements -
• Back to definitions
– System: interconnected subsystems organized for a common objective, in
interaction with its environment.
– Input: produced by a subsystem, imposed to its close subsystem
– Output: consequence of the subsystem evolution, imposed to its close
subsystems
– Interaction principle: each action induces a reaction
– Internal accumulation of energy (with or without losses)
» Key transformation for safety and efficiency
» Output(s) is an integral function of input(s), delayed from
input(s) changes
» Causal description: fixed input(s) and output(s)
– Needs in defining an element representing the accumulation of energy, and
the links with its close subsystems
• According to a causal description, and to the interaction principle
EMR’13, Lille, Sept. 201315
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Accumulation elements -
• Representation
– internal accumulation of energy (with or without losses)
• Causality principle
Accumulator rectangle with an oblique barbackground: orangecontour: redupstream I/O vectors (dim n)downstream I/O vectors (dim n)
reaction
x1
y
y
x2
p1= x1. y p2= x2. y
∫∝ dtxxfy ),( 21
y = output, delayed from
input changes
fixed I/O (causal description)
action
EMR’13, Lille, Sept. 201316
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Examples
- Accumulation elements -
v
i2i1
C
capacitor
i1
i2
v
v
2 2
1vCE =
i1L, rL
u’13
u’23
i2u13
u23
3-phase line
[ ] )'(21
12
3
1uuiri
dt
dL L −
−
−=+
i
i
u
u’
inertiaΩJ
T2T1
Ω
T1
T2
Ω
Ω
2 2
1Ω= JE
stiffness
kΩ1
Ω2
TT
Ω1
Ω2
T
T
2 1
2
1T
kE =
EMR’13, Lille, Sept. 201317
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Conversion elements -
• Back to definitions
– System: interconnected subsystems organized for a common objective, in
interaction with its environment.
– Input: produced by a subsystem, imposed to its close subsystem
– Output: consequence of the subsystem evolution, imposed to its close
subsystems
– Interaction principle: each action induces a reaction
– Conversion of energy without energy accumulation (with or without losses)
» No delay from input(s) changes
» Non causal description: input(s) and output(s) can be permuted
– Needs in defining an element representing the conversion of energy, and the
links with its close subsystems
• According to a non causal description, and to the interaction principle
EMR’13, Lille, Sept. 201318
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Representation
– Conversion of energy without energy accumulation (with or without losses)
• Two possibilities
- Conversion elements -
conversionelement
Square for monophysical conversionCircle for multiphysical conversion
background: orangecontour: redupstream I/O vectors (dim n)downstream I/O vectors (dim p)Possible tuning input vector (dim q)
OR
Action/reaction x1
y1
y2
x2
p1= x1. y1 p2= x2. y2
y2
= f (x1, z)
y1
= f (x2 , z)
z
no delay!
upstream and downstreamI/O can be permuted
(floating I/O)tuning vector
EMR’13, Lille, Sept. 201319
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Examples
- Conversion elements -
VDC
iconvuconv
s
iload
s
uconv = m VDC
iconv = m iload
VDC uconv
iloadiconv
m
idcm
edcmDCM
Ω
=
=
ΩΦ
Φ
ke
ikT
dcm
dcmdcm
idcm
edcm
Tdcm
Ω
kΦ
OR
Ωgear
T1
Ω2
Tgear
=
=
2geargear
1geargear
k
TkT
ΩΩ
Ωgear
TgearT1
Ω2
Tdcm
DC/DC converter DC machine Gearbox - Fix ratio
Ωgear
TgearT1
Ω2
EMR’13, Lille, Sept. 201320
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Coupling elements -
• Back to definitions
– System: interconnected subsystems organized for a common objective, in
interaction with its environment.
– Input: produced by a subsystem, imposed to its close subsystem
– Output: consequence of the subsystem evolution, imposed to its close
subsystems
– Interaction principle: each action induces a reaction
– Distribution of energy without energy accumulation (with or without losses)
» No delay from input(s) changes
» Non causal description: input(s) and output(s) can be permuted
– Needs in defining an element representing the distribution of energy in
parallel branches, and the links with its close subsystems
• According to a non causal description, and to the interaction principle
EMR’13, Lille, Sept. 201321
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Representation
– Distribution of energy without energy accumulation (with or without losses)
• Two possibilities
- Coupling elements -
Coupling elementOverlapped squares for monophysical conversionOverlapped circles for multiphysical conversion
background: orangecontour: redno tuning input vector
OR
VDC
icoup
i1
i2
vcoup2
VDC
icoup
i1
i2vcoup1
vcoup2
Vcoup1 = Vcoup2 = VDC
icoup = i1 + i2
parallel connexion
vcoup1
EMR’13, Lille, Sept. 201322
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Examples
- Coupling elements -
2T
TT gear
rdif
ldif
==
iarm
uarmDCM
iexc
uexc
=
=
Ωexcdcm
armexcdcm
ike
iikT iarm
uarm
iexc
uexc
iarm
earm
Tdcm
Ω
eexc
iexc
Field winding DC machine
Mechanical differential
Ωdiff
Tgear
Ωlwh
Ωrwh
Tldiff
Trdiff
Tldiff
Ωrwh
Trdiff
Ωlwh
Tgear
Ωdiff2
ΩΩΩ
rwllwhdiff
+=
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
««Organization: fundamental rulesOrganization: fundamental rules»»
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«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
electrical conversion
mechanical conversion
electro-mechanical conversion
- WARNING -
• Elements defined and to be used
Coupling element
OR
Monophysical Multiphysical
Conversion element
OR
Monophysical Multiphysical
electro-mechanical coupling
electrical coupling
mechanical-coupling
• In the past…..
EMR’13, Lille, Sept. 201325
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Systemic: Science for the study of systems, and their interaction
• Considering S1 and S2 any kind of sub-systems
• The direct connection of S1 and S2 is only possible if
• out(S1) = in(S2)
• in(S1) = out(S2)
- Association rules: direct connection -
Bat
VDC
iL
u
VDC VDC
iLiL
iL
u
L iL
VDC
iL
iL
uBat
uVidt
dL DCL −=
i state variable
Example
OKy2
x2x2
y2y1
x1 x3
y3
EMR’13, Lille, Sept. 201326
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Association rules: conflicts of association -
• Example: two inertia linked by a fix ratio gearbox
• Models
• Representation
Ω1Ω1
T2
T3
Ω2
T1
T4
Ω2J1
J2
J1dΩ1
dt= T1 −T2 J2
dΩ2
dt= T3 − T4
Ω2 = K.Ω1
T2 = K.T3
Ω1
Ω1
T2
T1
J1Ω2
T3 Ω2
Ω2
T4
T3
J2
k
Ω1
T2
causal causalnon causal
EMR’13, Lille, Sept. 201327
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Example: two inertia linked by a fix ratio gearbox
– Direct connection 1:
– Direct connection 2:
• Use the property of a non causal element to permute inputs and outputs
• Still conflict of association
- Association rules: conflicts of association -
Ω1
Ω1
T2
T1
J1Ω2
T3 Ω2
Ω2
T4
T3
J2
k
Conflict of association
Ω1
Ω1
T2
T1
J1
Ω2
T3
Ω2
Ω2
T4
T3
J2
1/kΩ1
T2
Ω1
Ω1
T2
T1
J1
Ω2
T3 Ω2
T4
J2
kΩ1
T2
EMR’13, Lille, Sept. 201328
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Remain
– The property of a non causal element to permute inputs and outputs can be
efficiently used: I/Os of a non causal element are fixed by state variables
(accumulation element)
• does not necessarily solve conflicts of associations
• In case conflicts of association subsist
– Back to the model
- Association rules: conflicts of association -
J1dΩ1
dt= T1 −T2
J1
K
dΩ2
dt= T1 − K.T3 ⇒
J1
K2
dΩ2
dt= T '2 −T3
Ω2 = K.Ω1
T2 = K.T3
T '2 =T1
Kwith
Ω2
T’2 Ω2
T3
J1/K2
1/kΩ1
T1
Ω2
Ω2
T4
T3
J2
Conflict of association
2 accumulation elements
would impose the same
state variable x1
EMR’13, Lille, Sept. 201329
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Remain
– Permutation of elements is possible if one obtain the same global behavior:
• strictly the same effects (y1 and x3) from the same causes (x1 , y3 and z)
- Association rules: conflicts of association -
x2
y2y1
x1 x3
y3
x’2
y’2y1
x1 x3
y3
z zx2
y2y1
x1 x3
y3
z
Permutation Rule
EMR’13, Lille, Sept. 201330
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Remain
– The property of a non causal element to permute inputs and outputs can be
efficiently used
– Permutation rule
• In case conflicts of association subsist
– Back to the model
- Association rules: conflicts of association -
T '2 =T1
Kwith
J1
K2
dΩ2
dt= T '2 −T3
J2dΩ2
dt= T3 − T4
⇒J1
K2
dΩ2
dt= T '2 −J2
dΩ2
dt− T4
J1
K2
+ J2
dΩ2
dt= T '2 −T4
Ω2
T’2 Ω2
T3
J1/K2+J2
1/kΩ1
T1
One has finally merged 2 accumulation elements series connected
(same state variable)
EMR’13, Lille, Sept. 201331
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
• Remain
– When 2 accumulation elements impose the same state variable
• Conflict association
• Solution: Merging rule
- Association rules: conflicts of association -
Merging Rule
x1
x1y2
y2
x1
y1 x1
y3NO
merging x1
y3x1
y1
1 equivalent function for
2 elements / systemic
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
««Analysis for the simulation and Analysis for the simulation and
controlcontrol»»
EMR’13, Lille, Sept. 201333
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- System analysis -
• Objective: real-time control and energy management of energetic systems
real
system
representation
Model objective:
“control”
causal &
systemic
organization
Highlight energetic
and systems properties
prediction
dynamical
models
Real-time
control &
Energy
management
forward
approach
EMR’13, Lille, Sept. 201334
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Power Flow-
• Example of an electromechanical conversion system
PEBat.
FresEM
S1 S2
upstreamsource
downtreamsource
x1 x2 x3 x4 x5x6 x7
y1 y2 y3 y4 y5 y6 y7
z23 z45 z67
upstreamsource
downstreamsource
Convention: direction of positive power flow(could be negative for bidirectional system)
electromechanicalconversion
electricalconversion mechanical
conversion
energy storage =power adaptation
EMR’13, Lille, Sept. 201335
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Action and Reaction paths-
• Example of an electromechanical conversion system
PEBat. FresEM
S1 S2
upstream
source
downtream
sourcex1 x2 x3 x4 x5 x6 x7
y1 y2 y3 y4y5 y6 y7
z23 z45 z67
P > 0 action path:
(e.g. acceleration) reaction path:
x1 x2 x3 x4 x5 x6 x7
y1 y2 … y7
P < 0 action path:
(e.g. braking) reaction path: x1 x2 x7
y1 y2 … y7…
Bidirectional system if:
• bidirectional sources
• bidirectional conversion elements
I/O independent of power flow direction
action/reaction dependent of power flow direction
EMR’13, Lille, Sept. 201336
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Tuning paths-
• Example of an electromechanical conversion system
PEBat. FresEM
S1 S2
upstream
source
downtream
sourcex1 x2 x3 x4 x5
x6 x7
y1 y2 y3 y4 y5 y6 y7
z23 z45 z67
Tuning path:
Technical requirements: action on z23 and x7 to be controlled
x3 x4 x5 x6 x7
z23
The tuning path is independent
of the power flow direction
(e.g. velocity control in acceleration AND regenerative braking)
EMR’13, Lille, Sept. 201337
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Tuning paths-
• Example of an electromechanical conversion system
z45
y5
x7
PEBat. FresEM
S1 S2
upstream
source
downtream
sourcex1 x2 x3 x4 x5 x6
y1 y2 y3 y4 y6 y7
z23 z67
Tuning path:
Technical requirements: action on z45 and y1 to be controlled
z45
The tuning path depends
on the technical requirements
y1 y2 y4y3
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
««ConclusionConclusion»»
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
EMR = multi-physical graphical description
based on the interaction principle (systemic)and the causality principle (energy)
Basic elements = energetic function
sources, accumulation, conversion and distribution of energy
Association rules = holistic property of systemic
enable keeping physical causality in association conflict
Applications
analysis, simulation, control structure…
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
Remember = no more triangles or other kind of pictogram for the representations of conversion or coupling elements
Onlythe use of squares (monophysical) or circles (multiphysical) is authorized
The methodology is not frozen
A new element was introduced recently
Adaptation element
EMR’13
Lille
Sept. 2013
Summer School EMR’13“Energetic Macroscopic Representation”
««RREFERENCESEFERENCES»»
EMR’13, Lille, Sept. 201342
«« Energetic Macroscopic RepresentationEnergetic Macroscopic Representation»»
- Some references -
A. Bouscayrol, & al. "Multimachine Multiconverter System: application for electromechanical drives", European
Physics Journal - Applied Physics, vol. 10, no. 2, May 2000, pp. 131-147 (common paper GREEN Nancy, L2EP Lille
and LEEI Toulouse, according to the SMM project of the GDR-SDSE).
A. Bouscayrol, "Formalism of modelling and control of multimachine multiconverter electromechanical systems” (Texte
in French), HDR report, University Lille1, Sciences & technologies, December 2003
A. Bouscayrol, M. Pietrzak-David, P. Delarue, R. Peña-Eguiluz, P. E. Vidal, X. Kestelyn, “Weighted control of traction
drives with parallel-connected AC machines”, IEEE Transactions on Industrial Electronics, December 2006, vol. 53, no.
6, p. 1799-1806 (common paper of L2EP Lille and LEEI Toulouse).
K. Chen, A. Bouscayrol, W. Lhomme, "Energetic Macroscopic Representation and Inversion-based control: Application
to an Electric Vehicle with an electrical differential”, Journal of Asian Electric Vehicles, Vol. 6, no.1, June issue, 2008,
pp. 1097-1102.
P. Delarue, A. Bouscayrol, A. Tounzi, X. Guillaud, G. Lancigu, “Modelling, control and simulation of an overall wind
energy conversion system”, Renewable Energy, July 2003, vol. 28, no. 8, p. 1159-1324 (common paper L2EP Lille and
Jeumont SA).
J. P. Hautier, P. J. Barre, "The causal ordering graph - A tool for modelling and control law synthesis", Studies in
Informatics and Control Journal, vol. 13, no. 4, December 2004, pp. 265-283.
W. Lhomme, “Energy management of hybrid electric vehicles based on energetic macroscopic representation”, PhD
Dissertation, University of Lille (text in French), November 2007 (common work of L2EP Lille and LTE-INRETS
according to MEGEVH network).