June 2012 EMR and inversion-based control of the Nanjing ... · EMR’12, Madrid, June 2012 31 EMR...

EMR’12

Madrid

June 2012

Joint Summer School EMR’12

“Energetic Macroscopic Representation”

EMR and inversion-based

control of the Nanjing subway

Dr. Wei WANG

Southeast University, China/L2EP, University Lille1, France

[email protected]

Prof. Ming CHENG

Southeast University, China

[email protected]

Prof. Alain BOUSCAYROL

L2EP, University Lille1, France

[email protected]

EMR’12, Madrid, June 2012 2

EMR and inversion-based control of the Nanjing subway

- Outline -

1. Background

2. EMR and inversion-based control

3. Simulation and comparison

4. Conclusions

EMR’12

Madrid

June 2012



1. Background



Technical support

- Background -

Joint project: Multi-level modeling and control of subway using EMR

Collaboration:

Objective: develop a common platform for subway researches

Drive level: investigate control methods of traction motors

Car level: investigate control methods of trains

System level: investigate control methods of subway lines

An element

An element

China Scholarship Council Sponsor:



- Background -

Nanjing

Location: Southeast China

Population: 8,000,000

Area: 6,597 km2

Nanjing Metro Line 1

Length: 14 318 m

Stations: 12

Power system: 1 500 V DC

Dwell time: from 25 s to 35 s



- Background -

Train = Tc+Mcp+Mc-Mc+Mcp+Tc

Tc - Trailer car

Mc - Motor car

Mcp- Motor car with pantograph

Tc Mcp Mc Mc Mcp Tc

Track

systemsupply power Traction



- Background -

One Mcp contains:

one VSI

four traction motors

four gears

four wheels


Pantograph

Inverter

Motor

Track

Gear

Wheel

DC

AC

M MMM

G G GG

Mc is similar with Mcp.

EMR’12

Madrid

June 2012



EMR and inversion-based control



Tc Mcp Mc Mc Mcp Tc

Track


- EMR and inversion-based control -

DC

dcu

dci

Electrical source




DC

dcu

dci

caru

cari

cardc

dccar

ii

uu

4

Tc Mcp Mc Mc Mcp Tc

Track


One trainone motor cars




Pantograph

Inverter

Motor

Track

Gear

Wheel

M MMM

G G GG

DC

AC

DC

AC

DC

AC

DC

AC


DC

dcu

dci

caru

cari

1u

1i

4321

}4,3,2,1{,

iiiii

kuu

car

cark

Electrical coupling




Pantograph

Inverter

Motor

Track

Gear

Wheel

M MMM

G G GG

DC

AC

DC

AC

DC

AC

DC

AC

refmT _1

1mT

1m


DC

dcu

dci

caru

cari

1u

1i

0 ,

0 ,

111111

111111

1_1

mmm

mmm

mrefm

TTiu

TTiu

TT

0

Traction

Braking

motorT

motorm

maxT

minT

Drive-level system




Pantograph

Inverter

Motor

Track

Gear

Wheel

M MMM

G G GG

DC

AC

DC

AC

DC

AC

DC

AC

refmT _1

1mT

1m 1w

1wT


DC

dcu

dci

caru

cari

1u

1i

Gear

0 , /

0 ,

1112

11121

111

mm

mmw

wm

TTn

TTnT

n




Pantograph

Inverter

Motor

Track

Gear

Wheel

M MMM

G G GG

DC

AC

DC

AC

DC

AC

DC

AC

refmT _1

1mT

1m 1w

1wT 1wF

1wv


DC

dcu

dci

caru

cari

1u

1i

Wheel

111

111

/

/

rv

rTF

ww

ww




Pantograph

Inverter

Motor

Track

Gear

Wheel

M MMM

G G GG

DC

AC

DC

AC

DC

AC

DC

AC

refmT _1

1mT

1m 1w

1wT 1wF

1wv


DC

dcu

dci

caru

cari

1u

1i

The other three drive-level+gear+wheel subsytems are same as the first one.



refmT _1

1mT

1m 1w

1wT 1wF

1wv


DC

dcu

dci

caru

cari

1u

1i

MCF

MCv

4

1

}4,3,2,1{,

kwkMC

MCwk

FF

kvv systemsupply power Traction

Pantograph

Inverter

Motor

Track

Gear

Wheel

M MMM

G G GG

DC

AC

DC

AC

DC

AC

DC

AC

Bogie



Tc Mcp Mc Mc Mcp Tc

Track


refmT _1

1mT

1m 1w

1wT 1wF

1wv


DC

dcu

dci

caru

cari

1u

1i

MCF

MCv

TrainF

Trainv

MCMCTrain

TrainMC

FnF

vv

One motor carone train



refmT _1

1mT

1m 1w

1wT 1wF

1wv


DC

dcu

dci

caru

cari

1u

1i

MCF

MCv

TrainF

TrainvTrainf

Trainv

dt

dvmfF train

TrainTrainTrain

Tc Mcp Mc Mc Mcp Tc

Track


Chassis




Number Position

Number

Number

Radius

GradientEnd position

End position

Station

Ramp

Curve

Database Storage format

Total resistance= air resistance+ ramp resistance + curve resistance

Air resistance : result from aerodynamics (front area, velocity,…)

Rump resistance : result from the existence of rumps (gradient)

Cure resistance : result from the existence of curves (radius)

A database/ look-up table is used to simulate the running environment to

provide exact total resistance.



refmT _1

1mT

1m 1w

1wT 1wF

1wv


EnvDC

dcu

dci

caru

cari

1u

1i

MCF

MCv

TrainF

TrainvTrainf

Trainv

Environment




EnvDC

dcu

dci

caru

cari

1u

1i

1mT 1wT1wF

1m 1w 1wv

MCF

MCv

TrainF

TrainvTrainf

Trainv

refmT_1

refwT _1refmT _1

refMCF _ refTrainF _

Strategy

refTrainv _

refwF _1

]3,2,1[ kDkDkD



- EMR and inversion-based control-

Simulink using EMR

EMR’12

Madrid

June 2012



Simulation and comparison



- Simulation and comparison -

TSim : a software for Nanjing Metro Line 1

Time: developed 2008

Applications: Nanjing Metro Line 1

DC voltage

Height

Traction effort

Train speed

Train performances




0 500 1000 1500 2000 2500 30000

20

40

60

80

100

EMRVel

oci

ty (

km

/h)

Time (s)

0 500 1000 1500 2000 2500 30000

20

40

60

80

100

TSimVel

oci

ty (

km

/h)

Time (s)

Velocity Curve

Simulink model using EMR

TSim




0 500 1000 1500 2000 2500 3000-100

0

100

200

300

EMR

En

erg

y (

kW

h)

Time (s)

0 500 1000 1500 2000 2500 3000-100

0

100

200

300

TSimEn

erg

y (

kW

h)

Time (s)

Energy Curve

Simulink model using EMR

TSim




Simulink (EMR) TSim Error (%)

Operation

time 2770 s 2802 s 1.12 %

Energy 227 kWh 218 kWh 1.36 %

EMR’12

Madrid

June 2012



Conclusions



- Conclusions -

EMR of Nanjing Metro Line 1

Inversion-based control of Nanjing Metro Line 1

Comparison between TSim and Simulink model using EMR

In the future, the system level simulation will be researched based on

car-level simulation.

EMR’12

Madrid

June 2012



BIOGRAPHIES AND REFERENCES



- Authors -

Dr. Wei WANG

Southeast University (SEU), China

PhD on Permanent Magnet Drives for Subway at SEU (2010)

Visiting PhD Student at University of Lille 1, France (2011)

Research topics: Machine Drive and Electrical Traction System

Prof. Alain BOUSCAYROL

University Lille 1, L2EP, MEGEVH, France

Coordinator of MEGEVH, French network on HEVs

PhD in Electrical Engineering at University of Toulouse (1995)

Research topics: EMR, HIL simulation, tractions systems, EVs and HEVs

Prof. Ming CHENG

Southeast University (SEU), China

IET Fellow Member, IEEE Senior Member

PhD in The University of Hong Kong (2001)

Director of the Research Center for Wind Power Generation

Visiting Professor at University of Wisconsin-Madison (2011)

Research topics: Electrical Machines, EVs,Renewable Energy Generation.



- References -

[Wang 10] Wang, W., Cheng, M., Hua, W., Zhao, W.X., Ding S.C., and Zhu, Y. (2010). Hybrid modeling and applications of virtual metro systems. IEEE Vehicle Power and Propulsion Conference, 1-5.

June 2012 EMR and inversion-based control of the Nanjing ... · EMR’12, Madrid, June 2012 31 EMR...

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