Aalto University -...

Aalto UniversityFinlandMay 2011

« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »

Aalto University

«« 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/

HEVs & EMR, Aalto, May 20112

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



Master of W. Lhomme, 2004

ICEngine

Fuel tank

powerelectronics

electricgenerator

electricmachine

drive Unit

rectifierPMSM inverter IM

drive Unit

IM2

IM1Inv1

Inv1

BatteryBatterychopper

SuperCaps

- Energy management for HEV with supercapacitors -

(Switzerland) [Lhomme & al. 2009]



Master of W. Lhomme, 2004

ICEngine

Fuel tank

powerelectronics

electricgenerator

electricmachine

drive Unit

rectifierPMSM inverter IM

drive Unit

IM2

IM1Inv1

Inv1

BatteryBatterychopper

SuperCaps

- Energy management for HEV with supercapacitors -

inductors choppers

measurementset

supercapacitorbank

resistors

controllerboard

0 50 100 150 20090

110

130

150 uScaps (V)

t (s)(Switzerland) [Lhomme & al. 2009]



qC_O2

PSC_O2

O2

qO2

PO2

qO2

PSC_O2

AirqO2+qc_O2

PSC_O2

PSC_O2

qO2_out

pertes canal 2

pertes canal 1

réserveO2

accumulateur O2atmosphère

PS_O2 qO2_out

qO2ref

qC_H2PSC_

H2

H2

qH2

PH2

qH2

PSC_

H2

AirqH2+qc_ H2

PSC_

H2

PSC_

H2

qH2_out

pertes canal 2

pertes canal 1

réserveH2

accumulateur H2atmosphère

PS_H2qH2_out

qH2ref

E0

E

IPAC

TPAC

Sq0 IPAC

EN

IPAC

Loi de NertzFluidique

SqnTPAC

VTPAC

Sq IPAC

VM

IPAC

Loi de Tafel

TPAC

SqTPAC

(Q/T)H2

O

TH2O

(Q/T)H2

O

H2O

qH2O

eau froide

Thermodynamique

V

IPAC

IPAC

Vc

ch

Chargeélectrique

dynamiquePAC

Electrique

- EMR of a Fuel Cell -

PEMFC

[Chrenko & al. 2008] [Hissel & al. 2008]



M1 M3

M2 tension roll

winding rollunwinding roll

DC bus

AC bus

- EMR of triple-drive paper system -

(Canada)

Master of Y. Djani, 2004[Djani & al. 2006]



ES’

ES’ ES’

Tband1-refiim1-ref Tim1-ref shaft1-refVvsi1-ref vroll1-ref

Tband2-ref

vroll3-ref

- EMR of triple-drive paper system -

(Canada)

winding roll drive

unwinding roll drive

tension roll drive

paperbands

Master of Y. Djany, 2004[Djani & al. 2006]



1a

1b

1c

1d

1e

i1a

i1b

i1c

i1d

i1e

VDC

1'a

1'b

1'c

1'd

1'e

2a

2b

2c

2d

2e

i2a

i2b

i2c

i2d

i2e

N

5-leg VSI 5-phase machine 1

stator 5-phase machine 2

stator connection

A 5-leg Voltage Source Inverter

for supplying

two 5-phase machines with special series connection

- EMR of dual drive with multiphase machines -



Machine 1

Machine 2

MM1 & SM2 in series

MM2 & SM1 in series

me

se

vsiv

machi

mvsiv

mi

svsiv

si

DC bus

5-leg VSI

transformation

ivsi

VDC

svsi

fictitious machines

mechanical coupling load

shaft

mi

si

Tm1

Ts1

Ttot1

Tload1

MM1

SM1

Ts2

Tm2

Ttot2

Tload2

SM2

MM2

1si

global windings

series connections

x)1mi

1me

2si

2se

2me

2mi

1se

speed (rad/s)

time (s)0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 10

102030405060708090100

1

2

[Semail & al. 2005]

- EMR of dual drive with multiphase machines (2)-



- HIL simulation of the studied WECS -

PWMFOC

MPPT

MS ES

mechanical part electrical part

(Denmark)[Bouscayrol & al. 2006]



[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

mach

Pelec



PV panelDC/DC DC/AC

supercapacitorbank

DC/DC DC/ACPMSM

hydraulicmachine

oiltank

air compressedaccumulators

(Switzerland)[Bossmann & al. 2007]

Master of T. Bossman, 2006

- EMR of a hybrid storage system -



PV panelDC/DC DC/AC

supercapacitorbank

DC/DC DC/ACPMSM

hydraulicmachine

oiltank

air compressedaccumulators

PV chopper 1

PVichop1

schop1

loadivsi1

svsi1

ucap

ucap

uvsi1

ioaduchop1

ipv

VSI 1 loaddc bus

schop2

uchop2 ucap

ifilt

Scapsifilt

uscaps ichop2

itot

itot

ucap

ucap

Scaps inductor chopper 2 ivsi2svsi2

ucap uvsi2

ism

ism

esm

Tsm

shaft

shaft

Thm

oil

qhm

pvalv

qoil

mvalvpatm

qoil

qoil

pair

VSI 2 PMSM hydraulicmachine

valveoil tank

air accumulator

(Switzerland)[Bossmann & al. 2007]

Master of T. Bossman, 2006

- EMR of a hybrid storage system -


Aalto University, May 201114

ICE Aux.

Bat1

Bat2

Env.

Res2

Res2generation systems

storage systems traction systems

mechanical transm.

Vectorialmodel

Bat1

Bat1

Res Res Res

ResResRes

tank ICE

traction current (A)

[Boulon & al. 2010]

- military HEV -



[Boulon & al. 2010]

- military HEV -



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 -



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 -



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 -



[Cheng & al. 2009]

ICE_mea

TICE_ref

Фrd1

Фrd2_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

Фrd1_ref

Фrd2

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 -



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 -



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 -



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 -



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 a hybrid bus -



- EMR Summer School -

EMR’11, 4-7 July 2011, EPF Lausanne (Switzerland)

EMR’12, June 2012? Univ Carlos III (Madrid, Spain)

EMR’06 Lille, EMR’08 (Harbin, China), EMR’09 (Trois Rivières,Canada)….EMR’2013?

Aalto UniversityFinlandMay 2011

« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »

Aalto University

«« Conclusion Conclusion »»Lectures “HEVs & EMR”

pdf files and photos available athttp://emr.univ-lille1.fr/

Many thanks (Kiitos) to Dr. Anouar BELAHCEN!!for proposal, invitation and organization of this unit

We hope EMR could be a useful method in your future works!

Alain, Walter & Lucia



- 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).



- 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)

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