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Graz Universityof technology(Austria)April 2012
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
«« EMR EMR AND AND OOTHER THER
AAPPLICATIONS PPLICATIONS »»
Prof. A. Bouscayrol(University Lille1, L2EP, MEGEVH, France)
based on the works of “EV” group of Control teamof L2EP Lille
http://emr.univ-lille1.fr/
EMR, Graz University of Technology, April 20122
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Fq/b
Vid id C
Vid-ref id-ref CrefFq-
ref
vq-ref
vqN
FTCriq Vid C
simulation devéhicule Electrique
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
« Control »Prof. B. Lemaire-Semal
« Control »Prof. B. Lemaire-Semal
- “Control” team of L2EP -
3 Professors4 Associate Professors12 PhD students
A. Bouscayrol« Electricityand Vehicle »
A. Bouscayrol« Electricityand Vehicle »
X. Kestelyn«Machine tools »
X. Kestelyn«Machine tools »
B. Lemaire-Semail« Electro-active
actuators »
B. Lemaire-Semail« Electro-active
actuators »
E. Semail« Multiphasemachine »
E. Semail« Multiphasemachine »
Formalisms bring solutions for new applications
New applications lead to the improvement of formalisms
EMR, Graz University of Technology, April 20123
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- HIL simulation of the studied WECS -
PWMFOC
MPPT
MS ES
mechanical part electrical part
(Denmark)[Bouscayrol & al. 2006]
EMR, Graz University of Technology, April 20124
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
[Bouscayrol & al. 2006] (Denmark)
Controllerboard
HIL simulationof WECS
- HIL simulation of the studied WECS (2) -
PWMFOC
MPPT
MS
ES
Tim_estref= mod
ES
PWM
controlled load drive
Tim
load
vwind
machPelec
EMR, Graz University of Technology, April 20125
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
wh2 Tdiff2
Vbat
iinvgear
Tim
diff
Tgear
wh1 Tdiff1s11 s21 s31
drive control
[Bouscayrol & al. 2006]France
- HIL simulation of an EV traction -
EMR, Graz University of Technology, April 20126
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
controllerboard
HIL simulator
MS
ES
vve-ref
PWM FOC
ES
IM DCM
inverter chopperdSPACE 1103
controller board
France
- HIL simulation of an EV traction (2) -
EMR, Graz University of Technology, April 20127
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Existing starter alternatorused to start low size engines
Conception of a newstarter alternator
for bigger size engines
1 2Solution tested :
multiphase claw pole machineStarter Alternator
Reversible System
4
Control of the drive
Vector control using EMRand multimachine concept
vM1ref
0
0
iM1ref
T
SM
vM1
eM1
M1
M2
M3
iM1
iM2
iM3
vM2
vM3
eM3
eM2
TM1
TM2
TM3
iM1
iM2
iM3
SEVDC
iVSI
TLoad
vVSI
imachine
mVSI
vVSI ref
vM1refvM1ref
0
0
iM1refiM1ref
T
SM
vM1
eM1
M1
M2
M3
iM1
iM2
iM3
vM2
vM3
eM3
eM2
TM1
TM2
TM3
iM1
iM2
iM3
SEVDC
iVSI
TLoad
vVSI
imachine
T
SMSM
vM1vM1
eM1eM1
M1M1
M2M2
M3M3
iM1iM1
iM2iM2
iM3iM3
vM2vM2
vM3vM3
eM3eM3
eM2eM2
TM1
TM2
TM3
iM1iM1
iM2iM2
iM3iM3
SEVDC
iVSI
TLoad
vVSIvVSI
imachineimachine
mVSImVSI
vVSI refvVSI ref
3 Virtual prototype
Characterization withFinite Element Method
modeling[Bruyére & al. 2008]
- 7-phase starter-alternator -
EMR, Graz University of Technology, April 20128
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
eF-S1
eSR
iF
vDC T
SM
vM1
eM1
TM1
TM2
TM3
iM1
iM3
iond
vond
imach
mond
ihach
SE
vDC
iDC
vF
iF
mhach
iF
vM1ref iM1refvond refiM2ref
iM3ref
vM2ref
vM3ref
vF ref iF ref
M1
M2
M3
vDC
T ref
k
T M1 ref
vM2
vM3
iM2
iM1
iM2
iM3
eM2
eM3
T M2 ref
T M3 ref
i F mes
eF-S1
eSR
iF
vDC T
SMSM
vM1vM1
eM1eM1
TM1
TM2
TM3
iM1iM1
iM3iM3
iond
vondvond
imachimach
mondmond
ihach
SE
vDC
iDC
vF
iF
mhach
iF
vM1refvM1ref iM1refiM1refvond refvond refiM2refiM2ref
iM3refiM3ref
vM2refvM2ref
vM3refvM3ref
vF ref iF ref
M1
M2
M3
vDC
T ref
kk
T M1 ref
vM2vM2
vM3vM3
iM2iM2
iM1iM1
iM2iM2
iM3iM3
eM2eM2
eM3eM3
T M2 ref
T M3 ref
i F mes
7-phase machine = 3 (dq) fictitious machines
3 vector control + distribution criteria
reduction of noise + better efficiency
generator mode
- 7-phase starter-alternator -
EMR, Graz University of Technology, April 20129
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Bat1
Bat1
Res Res Res
ResResRes
tank ICE
- Energy management of a high-redundancy military HEV -
traction current (A)
[Boulon & al. 2010]
uC2
ig2
ig1
uC1
uC1
Tice
Ttot
gen
gen
gen
Tg1Tg1-ref
double generator
ICE
Tg2-ref
Tice-ref Tg2
Bat1Vbat1 iL1
iL1 uh1mh1
ih1
itot1
uC1
uC1
uC2
Bat2Vbat2 iL2
iL2 uh2mh2
ih2uC2
uC2
iMT1
iMT2
battery sets
DC buses
connections
itot3
6
6
Ttot
gear
Tm1
mvsi1
Tm2
itot1
uC1
em1im1
uvsi1 im1
em2im2
uvsi2 im2
mvsi2
gear
gearitot2
uC2
vhev
Environ.Fres
6vhev
Brake
vhevFbk
Fbk-ref
vhev
FtractFtotTgear Fwh
wh vhev
double-machine drive wheel and brake chassis
EMR, Graz University of Technology, April 201210
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
[Boulon & al. 2010]
- Energy management of a high-redundancy military HEV -
uC2
ig2
ig1
uC1
uC1
Tice
Ttot
gen
gen
gen
Tg1Tg1-ref
double generator
ICE
Tg2-ref
Tice-ref Tg2
Bat1Vbat1 iL1
iL1 uh1mh1
ih1
itot1
uC1
uC1
uC2
Bat2Vbat2 iL2
iL2 uh2mh2
ih2uC2
uC2
iMT1
iMT2
battery sets
DC buses
connections
itot3
6
6
uC2-refitot3-refig2-meas
uh2-ref
iL2-ref ih2-ref
gen-ref Ttot-ref kD
Tg1-ref
Tg2-ref
Ttot
gear
Tm1
mvsi1
Tm2
itot1
uC1
em1im1
uvsi1 im1
em2im2
uvsi2 im2
mvsi2
gear
gearitot2
uC2
vhev
Environ.Fres
6vhev
Brake
vhevFbk
Fbk-ref
vhev
FtractFtotTgear Fwh
wh vhev
vhev-refFtot-ref
kD2
Twh1-ref
Tm2-ref
Ftract-refTm1-ref
kD4
Twh1-ref Fwh-ref
kD3im1-refuvsi1-ref
m1-ref
m2-ref
uC2-refitot3-refig2-meas
uh2-ref
iL2-ref ih2-ref
double-machine drive wheel and brake chassis
strategy
Divide and conquer!Strategy = coordination of subsystems
EMR, Graz University of Technology, April 201211
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
energymanagement?
new concept
2
Simulation of various casesand energy management
Implementationon prototypes
3
1EMR and
control
[Letrouvé & al. 2011]
LV Load
ICE
Rear Electric machine
EmbHV Battery
BV
Front Electric machine
LV Battery
STRATEGY
SE
MS ar
SM
SE
MCCdem
SE
kdem
SE
MELar
SM
SM
MELav
SM
SE
SE
kdem
MCCdem
- double parallel HEV -
EMR, Graz University of Technology, April 201212
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- double parallel HEV -
Modelling
Simulation
Control
Prototype
Description
Emulation
HIL simulation
[Letrouvé & al. 2011]
Ωrem
Ωice
SOCbat_HV
Consoice
SimVHP and Inversion based control deduced from EMR
3008 HY4
EMR, Graz University of Technology, April 201213
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Tl iinv
Split EVT EM1
Stator1ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1TICE
iinv1
BAT Fuel tank ICE Trans.
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT EM2
Mechanicalcoupling
vdc
DC bus
BAT
ΩEM2
TEM1
TEM1 ΩEM2
Ttot
ΩEM1
parallelconnection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1iinv1
θd/s2
es2_dqis2_dq
vs2_dq is2_dq
Induction machines
Tem2
es1_dqis1_dq
vs1_dq is1_dq TEM1
is2
is1
θd/s2
Shaft of ICE
ΩICE
ΩICETICEICE
TICE_ref
Ftot
Trans.Wheels
ΩEM2 Fres
MSe
Environ.Chassis
vhev
vhev
[Cheng & al. 2009]
- HEV using an EVT -
EMR, Graz University of Technology, April 201214
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
[Cheng & al. 2009]
ICE_mea
TICE_ref
Ф r d1
Ф rd2_ref
mEM1_ref
us_EM1
Vehicle speedcontroller
(14)
Strategy
Ftrans
Tem2vsdq2
isdq2 EM2
us_EM2
is_EM2
isdq2
θd/s2
Park’s Transformation
(6)
us_EM1_ref
DC bus(2)
Parallel connexion
(4)
Inverters (5)
Windings(7)
Electromechanical Conversion (8)
Mechanical couplings of EM1 and EM2
(9)(10)
Transmission -wheels
(11)
Mechanical environment
(13) Chassis
(12)
EMR
TICE
ICE Shaft (26)
ICE
vdc BAT
iinv
vdc
vdc iinv2
iinv1 ICE
Tem2
ICE
mEM1
mEM2
EM1
Tem2
vhev
Fres
Ttrans
EM1 vhev MSe
Ftrans_ref vhev_ref
Tem2_ref
Tem1_ref
ICE_ref
TICE_est
Tem2_ref
isdq1_ref
us_EM2_ref
Inversion of Transmission- wheels (15)
Inversion of Mechanical couplings
(16)(17)
Speed controller of ICE shaft (22)
Inve
rsio
n -b
ased
con
trol
ICE
TICE_ref
isdq2_ref
es_EM1_est
Split EVT: EM1
Tem1 vsdq1
isdq1 es_EM1 EM1is_EM1
isdq1
θd/s1
Split EVT: EM2
es_EM2
vsdq2 ref
Ttrans_ref
vsdq1_ref FOC of
EM1 (18)
Current controller of EM1 (19)
Inversion of Park 1
(20)
PWM VSI 1
(21)
Tem2_ref
Ф rd1_ref
Ф r d2
θd/s2_est
isdq_mea θd/s1_est
vdc_mea
vdc_mea
0 200 400 600 800 10000
50
100
150 Vehicle speed (km/h)
t(s)
0 200 400 600 800 1000
-500
0
500 Machines Speed - EM2 (rad/s)
t(s)
0 200 400 600 800 100040
50
60
70SOC(%)
t(s)
- HEV using an EVT -
EMR, Graz University of Technology, April 201215
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
ICE
VSI 1 EM 1
VSI 2 EM 2
Battery
Trans.
FuelICE
VSI 1 EM 1
VSI 2 EM 2
Battery
Trans.
Fuel
series parallel HEV series HEV parallel HEV
ICE
VSI 1 EM 1
VSI 2 EM 2
Battery
Trans.R
C
S
Fuel planetary gearR: ringC: carrierS: sun
Different vehicles can be deduced from a series-parallel HEV vhev
Fbrake
12
ICE
Environ.
brake
Tice-ref
k
T1T2
EM2
Tem2-ref
EM1
Tem1-ref
strategy
12 ref
common EMR for different HEVs
common control schemefor different HEVs[Chen & al. 2009]
LTE
- unified control for several HEVs -
EMR, Graz University of Technology, April 201216
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
0 200 400 600 800 10000
200
400
600 Machine Speed - EM1 (rad/s)
t(s)
0 200 400 600 800 1000-200
0
200 EM1 torque (Nm)
t(s)
0 200 400 600 800 1000-200
0
200ICE torque (Nm)
t(s)
ICE VSI 2EM 2Fuel
Chop
Bat
VSI 1 EM 1 Trans.
Bat
HIL simulation HIL simulation
- unified control for several HEVs -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 2011
Batt
Chop. 2
L2
SC
C Load
Chop. 1
L1
Uc
isc
u2
SEUc
Chop. 2iL2
SEi1
U1
iL1
ic
Uc
i
DC busElectric coupling
Chop. 1
ScpsBatt.
SE
ubatt
Uc
icharge
ic_ref
iref
itract_me
s
isc_refi2_ref
u2_ref
i1_ref
Uc_mes
Uc_ref
kD
ibatt_re
f
uscUc i2ibatt
Induct. 1
Induct. 2
m1
u1_ref
m2
Load
Uc
Voltages
0 60 120 180-40
-30
-20
-10
0
10
20
batteriescpsiba
ttisc0 60 120 180
110
120
130
140
150
160
batteriescpsubattus
c[Allègre & al. 2009]
Curents
LTE
- Hybrid energy storage subsystems -
EMR, Graz University of Technology, April 201218
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
0 50 100 150 200 250 300 3500
5
10
0 100 200 300-200
0
200
100
200
Velocity (m/s)
Curents (A)
Voltage (V)
vmes
iscp
ibatt
ubattuscp
t(s)
The simplest strategyThe simplest strategy
Start Arrival
LTE
=
=L1
Scps
BattNi-CD
~
=ME
Scap charginAt standstill
Softcommutation
Test only for ZEV mode
- Validation on an electric bus -
EMR, Graz University of Technology, April 201219
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- Collaborations using graphical descriptions -
(Warwick, UK)(Switzerland)
(Canada) (Harbin, China)
(Hong kong, China)(Italy)
(the Netherlands)
(Danmark)
(Beijing, China)
(Liverpool, UK)
(Germany)
(Spain)
Industries : Alstom Transport, CETIM, EADS, ETEL, Nexter System, PSA Peugeot Citroën, SAGEM (groupe SAFRAN), ST-micro, SAPELEM, SEPRO robotique, Siemens Transportation Systems, Valéo …
EMR, Graz University of Technology, April 201220
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- EMR’12 Summer School -
http://emr.univ-lille1.fr
25-27 June 2012, Univ. Carlos III, Madrid (Spain)
2006 Lille (France), 2008 Harbin (China), 2009 Trois Rivières (Canada) 2011 Lausanne (Switzerland)
Graz Universityof technology(Austria)April 2012
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »«« Conclusion Conclusion »»
Lectures “Energy management & EMR”pdf files and photos available soon at
http://emr.univ-lille1.fr/
Many thanks (Vielen Danke) to Prof. Annette Muetzeand her team!!for proposal, invitation and organization of this unit
We hope EMR could be a useful method in your future works!
Alain, Philippe & Lucia
EMR, Graz University of Technology, April 201222
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- References -
A. L. Allègre, A. Bouscayrol, R. Trigui, “Influence of control strategies on battery/supercapacitor hybrid Energy Storage Systems for traction applications", IEEE-VPPC’09, Dearborn (USA), pp; 213 – 220, September 2009 (common paper L2EP Lille and LTE-INRETS in the framework of MEGEVH network)
A. L. Allègre, A. Bouscayrol, P. Delarue, P. Barrade, E. Chattot, S. El Fassi, “Energy Storage System with supercapacitor for an innovative subway", IEEE transactions on Industrial Electronics, vol. 57, no. 12, December 2010, pp. 4001 - 4012 (common paper of L2EP Lille, EPF Lausanne and Siemens Transportation Systems).
L. Boulon, D. Hissel, A. Bouscayrol, O. Pape, M-C Péra, “Simulation model of a Military HEV with a Highly Redundant Architecture", IEEE transactions on Vehicular Technology, Vol. 59, no. 6, July 2010, pp. 2654 - 2663, (common paper of FEMTO-ST, L2EP Lille and Nexter Systems within MEGEVH, French network on HEVs).
A. Bouscayrol, X. Guillaud, R. Teodorescu, P. Delarue, W. Lhomme, “Hardware-in-the-loop simulation of different wind turbines using Energetic Macroscopic Representation”, IEEE-IECON'06, Paris, November 2006 (common paper of L2EP and University of Aalborg)
A. Bouscayrol, W. Lhomme, P. Delarue, B. Lemaire-Semail, S. Aksas, “Hardware-in-the-loop simulation of electric vehicle traction systems using Energetic Macroscopic Representation”, IEEE-IECON'06, Paris, November 2006, pp. 5319 – 5324 (common paper L2EP Lille and dSPACE France).
T. Bossmann, A. Bouscayrol, P. Barrade, S. Lemoufouet, A. Rufer, “Energetic Macroscopic Representation of a hybrid storage system based on supercapacitors and compressed air”, IEEE-ISIE’07, Vigo (Spain), June 2007 (common paper L2EP Lille and EPF Lausanne).
A. Bruyere, E. Semail, A. Bouscayrol, F. Locment, J.M. Dubus, J.C. Mipo, “Modelling and Control of a seven-phase Claw-Pole Integrated Starter Alternator for Micro-hybrid Automotive Applications”, IEEE-VPPC’08, Harbin (China), September 2008 (common paper L2EP Lille and Valeo)
K. Chen, A. Bouscayrol, A. Berthon, P. Delarue, D. Hissel, R. Trigui, “Global modelling of different vehicles, using Energetic Macroscopic Representation to focus on system functions and system energy properties”, IEEE Vehicular Technology Magazine, vol. 4, no. 2, June 2009, pp. 80-89 (common paper L2EP Lille, FEMTO-ST and LTE-INRETS within MEGEVH, French network on HEVs).
D. Chrenko, M. C. Pera, D. Hissel, A. Bouscayrol, "Modeling and control of fuel cell systems by energetic macroscopic representation”, ASME Journal of Fuel cell science and technology, Vol. 6, no. 2, May 2009, pp. 4501-4505 (common paper Femto-ST and L2EP Lille, within MEGEVH, French network on HEVs).
EMR, Graz University of Technology, April 201223
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- References (2) -
K. Chen, A. Bouscayrol, A. Berthon, P. Delarue, D. Hissel, R. Trigui, “Global modelling of different vehicles, using Energetic Macroscopic Representation to focus on system functions and system energy properties”, IEEE Vehicular Technology Magazine, vol. 4, no. 2, June 2009, pp. 80-89 (common paper L2EP Lille, FEMTO-ST and LTE-INRETS within MEGEVH, French network on HEVs).
Y. Cheng, K. Chen, C.C. Chan, A. Bouscayrol, S. Cui, “Global modelling and control strategy simulation for a Hybrid Electric Vehicle using Electrical Variable Transmission”, IEEE Vehicular Technology Magazine, vol. 4, no. 2, June 2009, pp. 73-79 (common paper Harbin Institute of technology and L2EP Lille.
Y. Djani Wankam, P. Sicard, A. Bouscayrol, "Maximum control structure of a five-drive paper system using Energetic Macroscopic Representation”, IEEE-IECON'06, Paris, November 2006 (common paper of GREI Université de Québec Trois Rivière and L2EP Lille).
D. Hissel, M. C. Pera, A. Bouscayrol, D. Chrenko, “Représentation énergétique macroscopique d'une pile à combustible", (text in French) Revue Internationale de Génie Electrique, vol. 11 n° 4-5/2008, September 2008, pp. 603-623 (common paper L2ES Belfort et L2EP Lille).
T. Letrouvé, P. Delarue, A. Bouscayrol, “Modelling and control of a double parallel Hybrid Electric Vehicle using Energetic Macroscopic Representation", Electromotion’09, Lille (France), June 2009,
W. Lhomme, R. Trigui, P. Delarue, B. Jeanneret, A. Bouscayrol, F. Badin, "Switched causal modelling of transmission with clutch in hybrid electric vehicles”, IEEE Transactions on Vehicular Technology, Vol. 57, no. 4, July 2008, pp. 2081-2088 (common paper L2EP Lille, LTE-INRETS within MEGEVH, French network on HEVs.
W. Lhomme, P. Delarue, A. Bouscayrol, P. Lemoigne, P. Barrade, A. Rufer, “Comparison of control strategies for maximizing energy in a supercapacitor storage subsystem”, EPE Journal, to be published in 2009, Vol. 19, no. 3, September 2009 pp. 5-14 (common paper L2EP Lille and EPF Lausanne).
E. Semail, E. Levi, A. Bouscayrol, X. Kestelyn, "Multi-Machine modeling of two series connected 5-phase synchronous machines: effect of harmonics on control", EPE'05, Dresden (Germany), September 2005 (common paper of L2EP Lille and John Moore University of Liverpool).
J. N. Verhille, A. Bouscayrol, P. J. Barre, J. P. Hautier, “Validation of anti-slip control for a subway traction system using Hardware-In-the-Loop simulation”, IEEE-VPPC’07, Arlington (USA), September 2007 (common paper L2EP Lille and Siemens Transportation System)