Intro to parallel and series/parallel HEV architectures...
Transcript of Intro to parallel and series/parallel HEV architectures...
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CU‐Boulder ECEN5017, USU ECE 6930 1
Intro to parallel and series/parallel HEV architectures
Vehicle controller design review
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CU‐Boulder ECEN5017, USU ECE 6930
Parallel HEV
• ICE and ED2 mechanically coupled to combine traction powerniceTice + n2T2 = nT
• Reduced size ED2; in a “micro” hybrid, ED2 is a low‐power starter/alternator• One electric drive: it is not possible to have electric drive traction and battery charging at the same time
• Requires multi‐gear transmission
ICE
3-phaseinverter/rectifier
2
Electricmotor/
generator2
Transmission
ED2Energystorage
Wheels(radius rv)
Fuel
VDC n2 T2nv Tv
nice Tice
Fvv
n T
2
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CU‐Boulder ECEN5017, USU ECE 6930
Series/Parallel HEV
• ICE, ED1 and ED2 mechanically coupled via a planetary gear; ICE and electric drive can combine traction power
• Capable of realizing HEV efficiency improvements• Simple single‐gear transmission
ICE
3-phaseinverter/rectifier
2
Electricmotor/
generator2
Transmission
ED2
Energystorage
Wheels(radius rv)
Fuel
VDC
n2 T2nv Tv
nice Tice
Fvv
3-phaseinverter/rectifier
1
Electricmotor/
generator1
ED1
n1 T1
DC-DCVbatt
+
_
n T
3
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CU‐Boulder ECEN5017, USU ECE 6930
Series/parallel HEV example: 2004 Prius
ICE
3-phaseinverter/rectifier
2
Electricmotor/
generator2
Transmission
ED2
Energystorage
Wheels(radius rv)
Fuel
VDC
n2 T2nv Tv
nice Tice
Fvv
3-phaseinverter/rectifier
1
Electricmotor/
generator1
ED1
n1 T1
DC-DCVbatt
+
_
n T
208 V1.3 kWhNiMH
500 V
boost
buck
50 kW PMSM
25 kW PMSM
57 kW @ 5000 rpm
112 TnTnnTnT iceice
12 4.04.1 nnnn ice
ring = ED2, n = n2planets = ICE, nicesun = ED1, n1
Overall drive train system power rating: 82
kW (110 hp)
Planetary gear (“power split device (PSD)”) animation: http://eahart.com/flash/PSDAnim.swf
4
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CU‐Boulder ECEN5017, USU ECE 6930
Series/parallel HEV example: 2004 Prius1
2
Power electronics (2 inverters and a boost DC‐DC)
HEV drive train
5
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CU‐Boulder ECEN5017, USU ECE 6930
Modes of operation: starting and low‐speed
ICE
3-phaseinverter/rectifier
2
Electricmotor/
generator2
Transmission
ED2
Energystorage
Wheels(radius rv)
Fuel
VDC
n2 T2nv Tv
nice Tice
Fvv
3-phaseinverter/rectifier
1
Electricmotor/
generator1
ED1
n1 T1
DC-DCVbatt
+
_
n T
208 V1.3 kWhNiMH
500 V
boost
buck
50 kW PMSM
25 kW PMSM
57 kW @ 5000 rpm
ring = ED2, n = n2planets = ICE, nicesun = ED1, n1
Overall drive train system power rating: 82
kW (110 hp)
6
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CU‐Boulder ECEN5017, USU ECE 6930
Modes of operation: cruising
ICE
3-phaseinverter/rectifier
2
Electricmotor/
generator2
Transmission
ED2
Energystorage
Wheels(radius rv)
Fuel
VDC
n2 T2nv Tv
nice Tice
Fvv
3-phaseinverter/rectifier
1
Electricmotor/
generator1
ED1
n1 T1
DC-DCVbatt
+
_
n T
208 V1.3 kWhNiMH
500 V
boost
buck
50 kW PMSM
25 kW PMSM
57 kW @ 5000 rpm
ring = ED2, n = n2planets = ICE, nicesun = ED1, n1
Overall drive train system power rating: 82
kW (110 hp)
7
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CU‐Boulder ECEN5017, USU ECE 6930
Modes of operation: full acceleration
ICE
3-phaseinverter/rectifier
2
Electricmotor/
generator2
Transmission
ED2
Energystorage
Wheels(radius rv)
Fuel
VDC
n2 T2nv Tv
nice Tice
Fvv
3-phaseinverter/rectifier
1
Electricmotor/
generator1
ED1
n1 T1
DC-DCVbatt
+
_
n T
208 V1.3 kWhNiMH
500 V
boost
buck
50 kW PMSM
25 kW PMSM
57 kW @ 5000 rpm
ring = ED2, n = n2planets = ICE, nicesun = ED1, n1
Overall drive train system power rating: 82
kW (110 hp)
8
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CU‐Boulder ECEN5017, USU ECE 6930
Modes of operation: deceleration/braking
ICE
3-phaseinverter/rectifier
2
Electricmotor/
generator2
Transmission
ED2
Energystorage
Wheels(radius rv)
Fuel
VDC
n2 T2nv Tv
nice Tice
Fvv
3-phaseinverter/rectifier
1
Electricmotor/
generator1
ED1
n1 T1
DC-DCVbatt
+
_
n T
208 V1.3 kWhNiMH
500 V
boost
buck
50 kW PMSM
25 kW PMSM
57 kW @ 5000 rpm
ring = ED2, n = n2planets = ICE, nicesun = ED1, n1
Overall drive train system power rating: 82
kW (110 hp)
9
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CU‐Boulder ECEN5017, USU ECE 6930
Summary• HEV
– Electrified drivetrain offers efficiency improvements– Battery system: relatively small energy capacity, but relatively large power rating
• PHEV or EV– Fuel displaced by electricity– Same efficiency improvements as HEV– Battery system: large energy capacity and large power rating
10
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CU‐Boulder ECEN5017, USU ECE 6930
Vehicle Controller Design Review
11
Gphy(s)fv(s)
v(s)GEV(s)Gc(s)+–vref(s)fvc(s)
sGsG z
cmc1)(
System small‐signal model:
Vehicle controller
Goal: choose the PI controller parameters Gcm and wz to minimize settling time Tsettle upon a step in vref, subject to an overshoot constraint
EV example: Mv = 1500; % Vehicle curb weight + 250 kg passenger and cargoCd = 0.26; % Coefficient of Drag Cr = 0.01; % Coefficient of Friction Av = 2.16; % Front area [m^2]rho_air = 1.204; % Air density [kg/m^3]
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CU‐Boulder ECEN5017, USU ECE 6930 12
phy
phyphy sGsG
1
1)( 0 N(m/s) 0.2211
10
VACG
vdphy
mHz 0.4821 1
v
vdphy M
VACf
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CU‐Boulder ECEN5017, USU ECE 6930 13
sGsG z
cmc1)( )()()( sGsGsT phyc
10
1VAC
Gvd
phy
v
vdphy M
VACf 1
21
phy
phyphy sGsG
1
1)( 0 Loop gain T(s): fz < fphy
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CU‐Boulder ECEN5017, USU ECE 6930
Loop gain T(s): fz = fphy
14
sGsG z
cmc1)( )()()( sGsGsT phyc
10
1VAC
Gvd
phy
v
vdphy M
VACf 1
21
phy
phyphy sGsG
1
1)( 0
sMGsT vcm /)(
v
cmc M
Gf21
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CU‐Boulder ECEN5017, USU ECE 6930 15
sGsG z
cmc1)( )()()( sGsGsT phyc
10
1VAC
Gvd
phy
v
vdphy M
VACf 1
21
phy
phyphy sGsG
1
1)( 0
v
cmc M
Gf21
sMGsT vcm /)(
Loop gain T(s): fz > fphy
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CU‐Boulder ECEN5017, USU ECE 6930
Example Gc(s)
16
sGsG z
cmc1)(
Hz 0.11 21
v
cmc M
Gf
(m/s)N 1000cmG Hz 2.0zf
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CU‐Boulder ECEN5017, USU ECE 6930
Loop gain T: magnitude and phase responses
17
-50
0
50
100
150
Mag
nitu
de (d
B)
10-4
10-2
100
-180
-135
-90
Phas
e (d
eg)
Bode Diagram
Frequency (Hz)
fc = 0.17 Hz
m= 40o
(m/s)N 1000cmG
Hz 2.0zf
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CU‐Boulder ECEN5017, USU ECE 6930
0 5 10 15 20 25 30 35 400
10
20
30S
peed
[mph
]
Reference SpeedEV Speed
0 5 10 15 20 25 30 35 40-5000
0
5000
10000
Forc
e [N
]
Drive ForceResistive Force
0 5 10 15 20 25 30 35 40-50
0
50
Trac
tive
Pow
er [k
W]
time [sec]
Step vref response
18
v
vref
fv [N]
fr [N]
pv [kW]
p = 9.7 %
Tsettle = 7.45 s
Overshoot computed with respect to final vref = 20 mph
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CU‐Boulder ECEN5017, USU ECE 6930
Improved design: choose fz = fphy
19
phy
phyphy sGsG
1
1)( 0
N(m/s) 0.2211
10
VACG
vdphy
mHz 0.4821 1
v
vdphy M
VACf
(m/s)N 1000cmG
mHz 48.0 phyz ff
kg 1500vM
sGsG z
cmc1)(
sMGsT vcm /)(
Hz 0.11 21
v
cmc M
Gf
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CU‐Boulder ECEN5017, USU ECE 6930
Loop gain T(s)
20
-50
0
50
100M
agni
tude
(dB)
10-4
10-2
100
-91
-90.5
-90
-89.5
-89
Phas
e (d
eg)
Bode Diagram
Frequency (Hz)
fc = 0.11 Hz
m= 90o
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CU‐Boulder ECEN5017, USU ECE 6930
Step vref response
21
0 5 10 15 20 25 30 35 400
10
20S
peed
[mph
]
Reference SpeedEV Speed
0 5 10 15 20 25 30 35 400
5000
10000
Forc
e [N
]
Drive ForceResistive Force
0 5 10 15 20 25 30 35 400
10
20
Trac
tive
Pow
er [k
W]
time [sec]
p = 0 %
Tsettle = 5.54 s
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CU‐Boulder ECEN5017, USU ECE 6930
Improved design: choose fz = fphy,increase fc by increasing Gcm
22
(m/s)N 10000cmG
mHz 48.0 phyz ff
sGsG z
cmc1)(
sMGsT vcm /)(
Hz 1.1 21
v
cmc M
Gf
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CU‐Boulder ECEN5017, USU ECE 6930
Loop gain T(s)
23
-50
0
50
100
150M
agni
tude
(dB)
10-4
10-2
100
-91
-90.5
-90
-89.5
-89
Phas
e (d
eg)
Bode Diagram
Frequency (Hz)
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CU‐Boulder ECEN5017, USU ECE 6930
Step vref response
24
0 5 10 15 20 25 30 35 400
10
20
30S
peed
[mph
]
Reference SpeedEV Speed
0 5 10 15 20 25 30 35 400
5000
10000
Forc
e [N
]
Drive ForceResistive Force
0 5 10 15 20 25 30 35 400
20
40
60
Trac
tive
Pow
er [k
W]
time [sec]
p = 0.01 %
Tsettle = 0.55 s
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CU‐Boulder ECEN5017, USU ECE 6930
Improved design: choose fz = fphy,increase fc by increasing Gcm further
25
(m/s)N 100000cmG
mHz 48.0 phyz ff
sGsG z
cmc1)(
sMGsT vcm /)(
Hz 11 21
v
cmc M
Gf
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CU‐Boulder ECEN5017, USU ECE 6930
Step vref response
26
0 5 10 15 20 25 30 35 400
10
20
30
Spe
ed [m
ph]
Reference SpeedEV Speed
0 5 10 15 20 25 30 35 400
5000
10000
Forc
e [N
]
Drive ForceResistive Force
0 5 10 15 20 25 30 35 400
20
40
60
Trac
tive
Pow
er [k
W]
time [sec]
p = 0.2 %
Tsettle = 0.47 s
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CU‐Boulder ECEN5017, USU ECE 6930
What is the effect of increasing fz?
27
(m/s)N 10000cmG
sGsG z
cmc1)(
sMGsT vcm /)(
Hz 1.1 21
v
cmc M
Gf
Hz 048.0100 phyz ff
o87.4 m
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CU‐Boulder ECEN5017, USU ECE 6930
Step vref response
28
0 5 10 15 20 25 30 35 400
10
20
30S
peed
[mph
]
Reference SpeedEV Speed
0 5 10 15 20 25 30 35 40-5000
0
5000
10000
Forc
e [N
]
Drive ForceResistive Force
0 5 10 15 20 25 30 35 40-50
0
50
100
Trac
tive
Pow
er [k
W]
time [sec]
p = 1.82 %
Tsettle = 0.50 s
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CU‐Boulder ECEN5017, USU ECE 6930
Integrator wind‐up
29
actualspeed [m/s]
referencespeed [m/s]
Driver is given PI dynamics to control vehicle speed to a given reference.Output control value is the force command given to the vehicle drive system via gas/break pedals
Vehicle Controller Model
1Fvcommand
Max Force
Command1s
Integrator
Gcm
wz
2vref
1v
Fcommand
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CU‐Boulder ECEN5017, USU ECE 6930
Preventing integrator wind‐up
30
Stop integration if required gas pedal exceeds maximum available
actualspeed [m/s]
referencespeed [m/s]
Driver is given PI dynamics to control vehicle speed to a given reference.Output control value is the force command given to the vehicle drive system via gas/break pedals
Vehicle Controller Model
1Fvcommand
Product
Max Force
Command1s
Integrator
Gcm
wz
|u|
2vref
1v
Fcommand
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CU‐Boulder ECEN5017, USU ECE 6930
Step vref response
31
0 5 10 15 20 25 30 35 400
10
20
30S
peed
[mph
]
Reference SpeedEV Speed
0 5 10 15 20 25 30 35 400
5000
10000
Forc
e [N
]
Drive ForceResistive Force
0 5 10 15 20 25 30 35 400
20
40
60
Trac
tive
Pow
er [k
W]
time [sec]
p = 0.2 %
Tsettle = 0.55 s
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CU‐Boulder ECEN5017, USU ECE 6930
Response to change in grade of road
32
Gphy(s)fv(s)
v(s)GEV(s)Gc(s)+–vref(s)fvc(s)
System small‐signal model:
Vehicle controller