SIMULATION FOR TESTING

Transcription

1 SyTec «HARDWARE-IN-THE-LOOP SIMULATION FOR TESTING HYBRID AND ELECTRIC VEHICLES» Prof. Alain BOUSCAYROL, L2EP, Université Lille1, MEGEVH network, CRITT-M2A October Aalto University 2011

2 - MEGEVH network - (Energy management of Hybrid and Electric Vehicles) Coordination: Prof. A. Bouscayrol 6 projects 4 PhDs in progress 11 PhDs defended 8 industrial partners 10 academic Labs 2

3 - MEGEVH philosophy - theoretical developments MEGEVH-macro MEGEVH-strategy MEGEVH-optim Development of modeling and energy management methods independently of the kind of vehicle MEGEVH-FC MEGEVH-store using HiL testing experimental plate-forms Reference vehicles Paper Prize Award of IEEE-VPPC 08 Paper Prize Award of IEEE-VPPC 12 Paper Award EPE 14 ECCE Europe Best paper Award IET-EST journal

4 French network on electrical systems since 2002 initiate collaborations between companies and universities many collaborative R&D projects in electrical engineering for industry -MEDEE Clusterhttp:// 4

5 - Outline - 1. HiL SIMULATION FOR EVs & HEVs 2. EMR FOR HiL ORGANIZATION 3. EXAMPLES E OF HiL FOR EVs & HEVs REFERENCES 5

6 SyTec HIL simulation for EVs & HEVs validation axis of the V-model challenges of HIL simulation CRITT-M2A October Aalto University 2011

7 - Development of EVs and HEVs - Electrified vehicles (EV + Plug in HEV): 2015: 1 M of electrified vehicles (0,1%) 2030 target: 100 M of electrified vehicles (10%) Electric 2 3 wheelers (e bike, etc.) : 2015: 100 M of vehicles 2030 target: 400 M of vehicle (40%) 7 Global EV outlook 2016, beyond one million electric cars, International Energy Agency, 2016

8 - The industrial V-model - methods hardware Technical requirements Prototype time Internal loops = (time + cost) reduction System specifications Integration Tests (HIL) Development Component design Component tests Validation Accuracy level component realization 8

9 - What is HiL simulation? - control power model information power real world ECU+Control Subsystem 1 Subsystem 2 environment virtual world (off-line simulation) Control Subsystem 1 Subsystem 2 environment HiL simulation (real-time testing) ECU+Control Subsystem 1 TI Subsystem 2 environment [Maclay 96] TI: Testing interface 9

10 - Testing of an HEV subsystem - control power model information power climatic conditions HVAC cabin IC engine gasoline tank Battery E-drive mechanical transmission road and traffic vehicle driver Energy management Example: how to test a new battery? 10

11 - HiL testing of the HEV subsystem - control power model information power climatic conditions HVAC cabin IC engine gasoline tank real battery E-drive mechanical transmission road and traffic driver Energy management transparent testing interfaces Real-time simulation of all other subsystems 11

12 - HiL requirements - Control Subsystem 1 TI Subsystem 2 environment HiL simulation = (power) hardware (energy conversion) + models computed in real-time + dynamic interactions energetic model causal description dynamical model Efficient HiL testing requires: accurate and validated model(s) ideal testing interface(s) powerfull real-time simulator (s) 12

13 SyTec EMR for HiL organization Energetic Macroscopic Representation HiL organization CRITT-M2A October Aalto University 2011

14 - EMR formalism - Energetic Macroscopic Representation = organization Bat of models of complex systems v road Systematic deduction of organization of control schemes v ref Strategy Bat. DCM EP 11 ME 1 Road DCM EP 22 ME 2 [Bouscayrol 00] 14

15 source - EMR and control of an EV - power control model information power inverter e-machine wheel chassis Bat u bat i vsi u vsi i em i em e T em wh T wh v v road F u vsi-ref i em-ref T em-ref T wh-ref v ref 15

16 source - How to split subsystems? - power control model information power inverter e-machine wheel chassis Bat u bat i vsi u vsi i em i em e T em wh T wh v v road F Subsystem to test u vsi-ref i em-ref T em-ref T wh-ref v ref Subsystem to simulate 16

17 source - How to split subsystems? - power control model information power inverter e-machine wheel chassis Bat u bat i vsi u vsi i em i em e T em wh T wh v v road F Subsystem to test u vsi-ref i em-ref T em-ref T wh-ref v ref Subsystem to simulate 17

18 source - How to split subsystems? - power control model information power inverter e-machine wheel chassis Bat u bat i vsi u vsi i em i em e T em wh T wh v v road F Subsystem to test u vsi-ref i em-ref T em-ref T wh-ref v ref Subsystem to simulate 18

19 source - How to split subsystems? - power control model information power inverter e-machine wheel chassis Bat u bat i vsi u vsi i em i em e T em wh T wh v v road F Subsystem to test u vsi-ref i em-ref T em-ref T wh-ref v ref Subsystem to simulate 19

20 source - How to split subsystems? - power control model information power inverter e-machine wheel chassis Bat u bat i vsi u vsi i em i em e T em wh T wh v v road F Subsystem to test u vsi-ref i em-ref T em-ref T wh-ref v ref Subsystem to simulate 20

21 source - Testing of the electric drive - power control model information power inverter e-machine wheel chassis Bat T em wh power T em signal Bat wh v road Testing Interface? v ref Subsystem to test: battery + VSI + e-machine + control Subsystem to simulate: wheel + chassis + road 21

22 source - EMR formalism - power control model information power load e-machine inverter 2 inverter e-machine wheel chassis Bat Bat v road v ref T em wh a load e-drive with a speed control T em-est wh-ref 22

23 SyTec Examples s of HiL testing for EVs & HEVs ev platform CRITT application CRITT-M2A October Aalto University 2011

24 - From simulation to prototype - Objective of the electricity & vehicle (ev) platform of the control team of L2EP: real-time validation of energy management of new vehicle concepts for more efficient and less pollutant transportation systems study of a new vehicle EMR methodology simulation (EMR library) pre-validation on the ev platform flexible power and control devices HIL simulation validation on a real prototype real vehicle IBC and EMS integration Signal HiL (S-HiL): test of control and energy management strategies Power HiL (P-HiL): test of innovative components or subsystems 24

25 - ev platfom of L2EP - dspace kw 6-leg converters Lead Bat. MiMH Bat. Li-ion Bat. 12 electrical machines from 2 kw to 20 kw tests of innovative components & control (HIL simulations) double planetary geartrain e-scooter e-bike tests of real vehicles dspace kw 6-leg converters Fuel Cell Batscap SCaps Maxwell SCaps charging stations segway Tazzari Zero 25

26 - Other HiL applications using EMR - Signal HiL: Automatic subway for anti-slip control validation (Siemens Mobility) Hybrid Locomotive PLATHEE for testing new EMS (SNCF) parallel HEV for testing optimal EMS (Sherpa Engineering) Power HiL for component characterization ICE vehicle for testing clutch model (LTE IFSTTAR) Subway carousel for traction substation model (Siemens Mobility) Power HiL for innovative subsystem Scaps subway for testing Scaps and control (Siemens Mobility, EPFL, CH) Fuel Cell vehicle for testing (Univ. Trois Rivières, Canada, UC3 Madrid, Spain) Multi-source vehicles for testing real power flows (LTE-IFSTTAR, EPFL, CH) series-parallel hybrid truck for testing double planetary geartrain (Nexter) double parallel HEV (PSA Peugeot Citroen) 26

27 - Application with CRITT-M2A? - Battery emulator E-Drive1 E-Drive 2 Vehicle to test E-Drive3 E-Drive 4 Coordination control Real-time environnement model 27

28 SyTec Conclusion HiL testing is more and more used for an efficient development of EVs and HEVs but organization tools are required for the management of the various subsystems and their testing interfaces CRITT-M2A October Aalto University 2011

29 - References (1) - [Allègre 10] A. L. Allègre, A. Bouscayrol, J. N. Verhille, P. Delarue, E. Chattot, S. El Fassi, Reduced-scale power Hardware-In-the-Loop simulation of an innovative subway", IEEE trans on Industrial Electronics, vol. 57, no. 4, April 2010, pp (L2EP Lille and Siemens). [Bouscayrol 11] A. Bouscayrol, "Hardware-In-the-Loop simulation", Industrial Electronics Handbook, second edition, tome Control and mechatronics, Chapter 33, CRC Press, Chicago, March 2011, pp. 33-1/33-15, ISBN [Bouscayrol 12] A. Bouscayrol, J. P. Hautier, B. Lemaire-S , "Graphic Formalisms for the Control of Multi-Physical Energetic Systems", Systemic Design Methodologies for Electrical Energy, Chap. 3, ISTE Willey ed., Oct.2012, ISBN: [Letrouvé 13] T. Letrouvé, W. Lhomme, A. Bouscayrol, N. Dollinger, Control validation of Peugeot 3 8 Hybrid4 vehicle using a reduced-scale power HIL simulation", Journal of Electrical Engineering and Technology, Vol. 8, no. 5, September 2013, pp (L2EP Lille, and PSA Peugeot Citroën within MEGEVH network) [Lhomme 07] W. Lhomme, R. Trigui, P. Delarue, A. Bouscayrol, B. jeanneret, F. Badin, Validation of clutch modeling for hybrid electric vehicle using Hardware-In-the-Loop simulation, IEEE-VPPC 07, Arlington (USA), Sept. 2007, L2EP Lille and LTE INRETS Bron within MEGEVH). [Mayet 12] C. Mayet, J. Pouget, A. Bouscayrol, W. Lhomme, Influence of an energy storage system on the energy consumption of a diesel-electric locomotive", IEEE trans. on Vehicular Technology, Vol. 63, no. 3, March 2014, pp (L2EP Lille and SNCF, within MEGEVH network). [Verhille 07] J. N. Verhille, A. Bouscayrol, P. J. Barre, J. P. Hautier, Validation of anti-slip control for subway traction system using Hardware-In-the-Loop simulation, IEEE-VPPC 07, Arlington (USA), September 2007 (L2EP Lille and Siemens Transportation Systems). 29

30 - References (2) - [Athanasas 04] K. Athanasas, I. Dear, "Validation of complex vehicle systems of prototype vehicle", IEEE trans. on Vehicular Technology, Vol. 53, no. 6, November 2004, pp [Hanselmann 96] H. Hanselmann, "HIL simulation testing and its integration into a CACSD toolset", IEEE-CACSD 96, Dearborn, Sept. 96. [Li 06] H. Li, M. Steurer, S. Woodruff, K. L. Shi, "Development of a unified design, test, and research platform for wind energy systems based on hardware-in-the-loop real time simulation", IEEE trans. on Industrial Electronics, vol. 53, no. 4, June 2006, pp [Lok-Fu 07] P. Lok-Fu, V. Dinavahi, C. Gary, M. Steurer, P. F. Ribeiro, P.F., "Real-time digital timevarying harmonic modeling and simulation techniques IEEE Task Force on harmonics modeling and simulation", IEEE trans. on Power Delivery, Vol. 22, no. 2, April 2007, pp [Lu 07] B. Lu, X. Wu, H. Figueroa, A. Monti, "A low cost real-time hardware-in-the-loop testing approach of power electronics control", IEEE trans. on Industrial Electronics, vol. 54, no. 2, April 2007, pp [Maclay 97] D. Maclay, "Simulation gets into the loop", IEE Review, May 1997, pp [Rabbath 02] C. A. Rabbath, M. Abdoune, J. Belanger, K. Butts, Simulating hybrid dynamic systems, IEEE Robotics & Automation Magazine, Vol. 9, no. 2, June 2002, pp [Terwiech 99] P. Terwiesch, T. Keller, E. Scheiben, "Rail vehicle control system integration testing using digital hardware-in-the-loop simulation', IEEE transactions on Control System Technology, Vol. 7, no. 3, May 99, pp [Zhang 01] Q. Zhang, J. F. Reid, D. Wu, "Hardware-in-the-loop simulator of an off-road vehicle electrohydraulic steering system", Trans. on ASAE, September 2001, pp