« HARDWARE- IN-THE-LOOP - EMRwebsite · HIL SIMULATION USING EMR Aalto University, May 2011 8...
Transcript of « HARDWARE- IN-THE-LOOP - EMRwebsite · HIL SIMULATION USING EMR Aalto University, May 2011 8...
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Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« HHARDWAREARDWARE-- IINN--THETHE--LLOOP OOP ((HILHIL))SSIMULATION AND IMULATION AND EMREMR »»
Prof. A. Bouscayrol(University Lille1, L2EP, MEGEVH, France)
based on the tutorial“HIL simulation”, EVS’2009,
Stavanger (Norway)
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 20112- Outline -
1.1. WWHAT IS HAT IS HILHIL SSIMULATIONIMULATION??
22. . SSIGNALS AND IGNALS AND PPOWER OWER HILHIL SSIMULATION IMULATION
33. . FFULL AND ULL AND RREDUCEDEDUCED--SCALE SCALE HILHIL SSIMULATION IMULATION
44. . EEXAMPLES OF XAMPLES OF HILHIL SSIMULATIONIMULATION
1 example using EMR
presented at Aalto
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 20113- Classical approach of development of new product -
Example of an EV
simulation
Prototype I, II, III….
http://www.renault.com
real vehicle
Long development timeImportant costMaterial waste
Intermediarystep ?
HIL simulation ?
(towards a unique Prototype)
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 20114
processcontrol (blue)
Physical powersystem (orange)
- Graphical and colour Code -
powervariables
mathematicalmodel (purple)
signalvariables
SIMULATIONSOFTWARE
REAL-TIMECONTROLLER
SUBSYSTEM UNDER TEST
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Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
1. 1. WWHAT ISHAT IS
HHARDWAREARDWARE-- IINN--THETHE--LLOOP OOP SSIMULATIONIMULATION??
• Software simulation• HIL simulation• Models for HIL simulation
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 20116
POWER SYSTEM
CONTROLLERBOARD (ECU)
measurements
processcontrol
control signals power
electronicselectricmachine
mechanicalpower train
- System & Control -
How to develop the control? Software simulation
Example of an electric drive for traction
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 20117
SIMULATION ENVIRONMENT
powerelectronics
measurements
electricmachine
mechanicalpower train
processcontrol
control signals
- Limitations of Software simulation -
How to check the control before real-time implementation?
HIL simulation?
model accuracy simulation solver
sensor effects (quantification, EMI..)ECU effects (discrete-time...)
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 20118
SUBSYSTEM UNDER TEST
CONTROLLERBOARD (ECU)
powerelectronics
electricmachine
mechanicalpower train
processcontrol
control signals
Hardware-In-the-Loop (HIL) simulation: one simulation part is replaced by an actual part
- HIL simulation (1) -
Example: test of ECU and Power Electronics
electricmachine
mechanicalpower train
SIMULATION ENVIRONMENT
Interface System Real-time simulation
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 20119
Interface SystemCONTROLLERBOARD (ECU)
powerelectronics
processcontrol
HIL simulation: Includes a hardware part, a software part and a specific interface
- HIL simulation (2) -
electricmachine
mechanicalpower train
HARDWARE SOFTWARE
HIL simulation = Real-time simulation (but including a hardware part)= Emulation
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201110- Models for HIL simulation -
HIL simulation = Hardware (energy conversion) + Models computed in real-timein dynamic interactions
HARDWARE
REAL-TIME SIMULATION
energetic model
causal modeldynamic model
power
efficient results requires an accurate modeland a well-defined interface system!
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201111- HIL simulation appraoch -
Example of an EV
simulation
prototype
http://www.renault.com
real vehicle
HIL platform
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Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
2. 2. SSIGNALS AND IGNALS AND PPOWER OWER
HILHIL SSIMULATIONSIMULATIONS
• Signal HIL simulation• Power HIL simulation
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201113
CONTROLLERBOARD (ECU)
powerelectronics
measurements
electricmachine
mechanicalpower train
processcontrol
control signals
The actual controller board containing theprocess control is tested.
- Signal HIL simulation (1) -
subsystem to test
Objectives:- control assessment- reliability of ECU- fault operation of ECU- …
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201114
SYSTEM UNDER TEST
CONTROLLERBOARD (ECU)
powerelectronics
measurements
electricmachine
mechanicalpower train
processcontrol
control signals
- Signal HIL simulation (3) -
Second controller board with its own interface
Fast dynamic: FPGA?
EMULATION CONTROLLER
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201115- Example of signal HIL simulation -
ECU
subsystem to test
EMULATION CONTROLLER
battery +chopper (1)
DC machine(2) (3)
mechanicaltrans. (4)-(6)
drivecontrol
sij
uuchop
idcmidcm_meas
Tdcm
gear
gear_meas
Vbat_meas
SYSTEM UNDER TEST
CONTROLLERBOARD (ECU)
Remark: dynamic causal models
(2) eRiuidtdL dcmdcmchopdcm uuchop dtui chopdcm
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201116
CONTROLLERBOARD (ECU)
powerelectronics
measurements
electricmachine
mechanicalpower train
processcontrol
control signals
- Power HIL simulation (1) -
subsystem to test
Objectives:- control assessment- power device assessment- interactions (EMI…)- …
The actual controller board and a powersubsystem are tested.
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201117
SIMULATION ENVIRONMENT
SYSTEM UNDER TEST
CONTROLLERBOARD (ECU)
powerelectronics
electricmachine
mechanicalpower train
processcontrol
control signals
- Power HIL simulation (2) -
Interface System: • control and power signals• equivalent measurements• power action and reaction
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201118
EMULATION CONTROLLER
SYSTEM UNDER TEST
CONTROLLERBOARD (ECU)
powerelectronics
electricmachine
mechanicalpower train
processcontrol
control signals
- Power HIL simulation (4) -
The same controller board can be used for:• control of the emulation system• real-time simulation of subsystems
emulationsystem
emulationcontrol
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201119
CONTROLLERBOARD (ECU)
powerelectronics
measurements
electricmachine
mechanicalpower train
processcontrol
control signals
- Power HIL simulation (extension) -
subsystem to test
Objectives:- drive assessment- test on static platform- …
Electrical power HILS
Mechanical power HILS
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201120- Example of electrical power HIL simulation (1) -
ECU
subsystem to test
Luuchopidcm
idcm_refcurrent loop
example of emulation system
idcm
idcm
battery +chopper
DC machine(2) (3)
uuchop
battery +chopper
emulationsystem
uuchop
must imposethe same current
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201121
EMULATION CONTROLLER
• fast current loop• small sampling period
- Example of electrical power HIL simulation (2) -
Luuchop
idcm
idcm_ref
current loop
emulation systemreal batteryand chopper
drivecontrol
ECU
DC machine(2) (3)
uuchop_est mechanicaltrans. (4)-(6)
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201122- Example of mechanical power HIL simulation (1) -
ECU
subsystem to test
gear _refspeed / current loops
example of emulation system
Tdcm
gear
must imposethe same speed
gear
DCmachine
mechanicaltrans. (4)-(6)
Tdcm
?
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201123
emulation system
Tdcm
gear
realmachine
real bat.& chopper
EMULATION CONTROLLER
- Example of mechanical power HIL simulation (2) -
drivecontrol
ECU
TTdcm_est mechanicaltrans. (4)-(6)
gear _ref
speed / current loops
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Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
4. E4. EXAMPLES OF XAMPLES OF HIL SHIL SIMULATIONSIMULATIONSa. Test of traction drive for an EVa. Test of traction drive for an EV
[Bouscayrol 2006b]
In collaboration with
FRANCE
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201125- Objectives -
wh2 Tdiff2
Vbat
iinvgear
Tim
diff
Tgear
wh1 Tdiff1s11 s21 s31
Traction of the studied EV: VSI + Induction machine + differential + 2 driven wheels
Drive implementationfor an Electric Vehicle ?
1. Simulation of the EV (drive + vehicle dynamics)
2. Test of the actual traction drive
3. Test of the whole prototype
drive control
HIL simulation
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201126
Park’stransformation
Tim
gear
inductionmachine
udq idq
edqidq
d/s
rw
lw
Tdif
Tdif
Tgear
dif
gearbox differential
msteer
chassis environ.wheels
MSvevFtot
Flw
Frw
Fresvev
vlw
vrw
battery
ESubat
ivsi
VSI
svsi
uvsi
iim
rw Tdif
u bat
ivsigear
Tim
dif
Tgear
lw Tdifs11 s21 s31
- EMR of the studied vehicle -
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201127
control
- Maximum control structure -
msteer
battery VSI Park’stransformation
chassis environ.wheels
MSvevFtot
Flw
Frw
Fresvev
vlw
vrwrw
lw
Tdif
Tdif
TgearTim
dif
ESubat
ivsisvsi
gear
uvsi
inductionmachine
udq idq
iim edqidq
d/s
gearbox differential
power
Ftot-ref vev-ref
vev-mes
Fres-mesFlw-ref
kRkP
Tdiff-ref1
Tgear-refTim-ref
Frw-refTdiff-ref2
PWM
m-ref
idq-refvdq-refuvsi-ref
FOC
d/s-est
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201128
control
- Estimation and strategy -
msteer
battery VSI Park’stransformation
chassis environ.wheels
MSvevFtot
Flw
Frw
Fresvev
vlw
vrwrw
lw
Tdif
Tdif
TgearTim
dif
ESubat
ivsisvsi
gear
uvsi
inductionmachine
udq idq
iim edqidq
d/s
gearbox differential
powerkRkP
Ftot-ref vve-ref
Flw-refTdiff-ref1
Tgear-refTim-ref
vev-mes
Fres-mes
Frw-refTdiff-ref2
idq-refvdq-refuvsi-ref
FOC
m-refd/s-est
strategy
PWM
model
idq_est
edq m-est
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201129
control
- Synthetic EMR -
msteer
battery VSI Park’stransformation
chassis environ.wheels
MSvevFtot
Flw
Frw
Fresvev
vlw
vrwrw
lw
Tdif
Tdif
TgearTim
dif
ESubat
ivsisvsi
gear
uvsi
inductionmachine
udq idq
iim edqidq
d/s
gearbox differential
power
vev-mes
kRkP
Ftot-ref vve-ref
Flw-refTdiff-ref1
Tgear-refTim-ref
Fres-mes
Frw-refTdiff-ref2
idq-refvdq-refuvsi-ref
FOC
m-refd/s-est
PWM
traction drive
drive control
mechanical power train
power traincontrol
vev-refTim-ref
Tim
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201130
mechanical power traintraction drive
drive control
control
- HIL simulation principle -
power
power traincontrol
vev-refTim-ref
Tim
Tim
model
mechanical power train
DC load drive
drive control
ref= mod
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201131
controllerboard
HIL simulator
- Overall HIL simulation -
MS
ES
vve-ref
PWM FOC
ES
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201132- Experimental set-up -
IM DCM
inverterchopper
dSPACE 1103controller board
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201133- Experimental set-up -
IM DCM
inverterchopper
dSPACE 1103controller board
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201134
Ngear-mes
Tim-ref
iim1-mes
idcm-mes
vlw-modNgear-ref
im-ref
ubat
vev-ref
vev-mod
vrw-mod
ma2-est
- ECE Drive Cycle -
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Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
CCONCLUSIONONCLUSION
HIL simulation interest: valuable intermediary step before the implementation of the control or a new subsystem in a real process
HIL simulation requirements: • respect of interactions between subsystems• respect of the physical causality for real-time implementation• development of an adapted interface system• use of a accurate causal dynamical model
EMR = valuable tool for organization ofthe numerous blocks of HIL simulation
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201136- References -
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HIL SHIL SIMULATION USING IMULATION USING EMREMR
Aalto University, May 201137- References (2) -
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