APPLICATIONS. Prof. A. Bouscayrol (University Lille1, L2EP, MEGEVH, France)

Transcription

1 Graz University of technology (Austria) April 2012 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «EMR AND OTHER APPLICATIONS» Prof. A. Bouscayrol (University Lille1, L2EP, MEGEVH, France) based on the works of EV group of Control team of L2EP Lille

2 3 Professors 4 Associate Professors 12 PhD students EMR AND OTHER THER APPLICATIONS - Control team of L2EP - «Control» Prof. Prof. B. B. Lemaire-Semal simulation de véhicule Electrique 2 v q N F q V id id C /b i q V id C F T Modelling and and control control tools tools (COG, (COG, EMR, EMR, BMC, BMC, resonant controllers..) C r v q-ref F q- ref V id-ref id-ref C ref A. A. Bouscayrol B. B. Lemaire-S E. E. S S X. «Electricity X. Kestelyn «Electro-active «Multiphase «Machine and and Vehicle Vehicle» tools tools» actuators» machine» Formalisms bring solutions for new applications New applications lead to the improvement of formalisms

3 - HIL simulation of the studied WECS - mechanical part electrical part 3 MS ES FOC PWM MPPT [Bouscayrol & al. 2006] (Denmark)

4 ES controlled load drive - HIL simulation of the studied WECS (2) - load mach v wind ES P4 elec T im PWM HIL simulation of WECS ref = mod T im_est Controller board MS FOC PWM MPPT [Bouscayrol & al. 2006] (Denmark)

5 - HIL simulation of an EV traction - 5 V bat s11 s 21 s 31 T im T gear wh1 T diff1 i inv gear diff wh2 T diff2 drive control France [Bouscayrol & al. 2006]

6 - HIL simulation of an EV traction (2) - 6 ES inverter chopper dspace 1103 controller board ES IM DCM controller board HIL simulator MS PWM FOC v ve-ref France

7 Existing starter alternator used to start low size engines EMR AND OTHER THER APPLICATIONS - 7-phase starter-alternator - Conception of a new starter alternator for bigger size engines Starter Alternator Reversible System Solution tested : multiphase claw pole machine SE V DC i VSI v VSI i machine m VSI v VSI ref v M1 v M1ref i M1 v M2 i M2 v M3 0 0 i M3 i M1 M1 e M1 e M1 i M2 e M2 i M3 e M3 M2 M3 i M1ref T M1 T M2 T M3 4 Control of the drive Vector control using EMR and multimachine concept T T Load SM Characterization with Finite Element Method modeling [Bruyére & al. 2008] 3 Virtual prototype

8 7-phase machine = 3 (dq) fictitious machines - 7-phase starter-alternator - i F e F-S1 v DC v F i F i hach i F e SR 8 m hach v M1 i M1 i M1 em1 e M1 T M1 3 vector control + distribution criteria reduction of noise + better efficiency SE v DC i DC v DC i ond m ond v ond i mach v ond ref v M2 i M2 v M3 i M3 v M1ref v M2ref i M2 e M2 i M3 i M3 e M2 e M3 M2 im1ref i i M2ref T M2 T M3 M3 T M1 ref T M2 ref T SM T ref v M3ref i M3ref T M3 ref k v Fref i Fref i F mes generator mode

9 - Energy management of a high-redundancy military HEV - 9 Bat 1 Res Res Res tank ICE Res Res Res traction current (A) battery sets connections Bat 1 V bat1 i L1 Bat1 i L1 u h1 m h1 i h1 u C1 DC buses double-machine drive wheel and brake chassis double generator i tot1 u C1 6 u C1 u vsi1 i m1 T m1 gen i g1 u C1 i MT1 i tot1 i m1 e m1 gear T ice ICE gen gen T tot T g1 T g1-ref i g2 u C1 m vsi1 T tot gear T gear wh F wh v hev F tot F tract 6 v hev vhev v hev Environ. F res T ice-ref Tg2 T g2-ref u C2 i tot3 u C2 6 u C2 u vsi2 i m2 T m2 F bk Brake v hev Bat2 V bat2 i L2 i L2 u h2 m h2 [Boulon & al. 2010] i h2 u C2 u C2 i MT2 i tot2 m vsi2 i m2 e m2 gear F bk-ref

10 - Energy management of a high-redundancy military HEV - battery sets V bat1 i L1 i h1 Bat1 u C1 i L1 u h1 m h1 connections DC buses double-machine drive wheel and brake chassis 10 double generator i tot1 u C1 6 u C1 u vsi1 i m1 T m1 gen i g1 u C1 i MT1 i tot1 i m1 e m1 gear T ice ICE gen gen T tot T g1 T g1-ref i g2 u C1 m vsi1 T tot gear T gear wh F wh v hev F tot F tract 6 v hev vhev v hev F res Environ. T ice-ref Tg2 T g2-ref u C2 i tot3 u C2 6 u C2 u vsi2 i m2 T m2 F bk Brake v hev V bat2 i L2 Bat2 i L2 u h2 m h2 i h2 u C2 u C2 i MT2 i tot2 m vsi2 i m2 e m2 gear T m2-ref F bk-ref T g2-ref T g1-ref u h2-ref T m1-ref T wh1-ref F tot-ref F tract-ref v hev-ref gen-ref T tot-ref kd k D4 T wh1-ref F wh-ref k D3 k D2 i L2-ref i h2-ref uvsi1-ref i m1-ref i tot3-ref u C2-ref i g2-meas m2-ref u h2-ref i L2-ref i h2-ref m1-ref strategy i tot3-ref u C2-ref i g2-meas [Boulon & al. 2010] Divide and conquer! Strategy = coordination of subsystems

11 SE SE SE MCC dem SM k d e m MS ar EMR AND OTHER THER APPLICATIONS - double parallel HEV - 11 new concept Rear Electric machine Front Electric machine energy management? HV Battery LV Load ICE LV Battery BV Emb Simulation of various cases and energy management MEL av MEL ar 1 EMR and control Implementation on prototypes 3 2 SE SE SE MCC dem SM SM SM [Letrouvé & al. 2011] STRATEGY

12 Ω rem EMR AND OTHER THER APPLICATIONS - double parallel HEV - Modelling 12 Ω ice Description Control SOC bat_hv Conso ice SimVHP and Inversion based control deduced from EMR Simulation Emulation Prototype HIL simulation 3008 HY4 [Letrouvé & al. 2011]

13 VSI 2 EMR AND OTHER THER APPLICATIONS - HEV using an EVT - 13 i inv2 i inv v dc i inv1 T ICE T EM1 Rotor1 T EM1 T EM2 Stator2 BAT Fuel tank ICE Trans. Ω ICE Ω Stator1 EM2 Rotor2 VSI 1 DC bus parallel Inverters connection v dc θ d/s2 u s2 Split EVT Split EVT EM1 EM2 Induction machines Mechanical coupling v s2_dq i s2_dq T em2 T l Trans. Wheels Chassis Environ. BAT v dc i inv i inv2 i s2 m s2_r ef θ d/s2 i s2_dq e s2_dq Ω EM2 ICE Ω T ICE ICE_ref Shaft of ICE T ICE Ω ICE T EM1 T EM1 Ω EM2 T tot Ω EM2 F tot v hev v hev F res MSe i inv1 v dc u s1 i s1 m s1_ref v s1_dq i s1_dq T EM1 i s1_dq e s1_dq Ω EM1 [Cheng & al. 2009]

14 - HEV using an EVT - 14 DC bus (2) Parallel connexion (4) Inverters (5) Park s Transformation (6) Windings (7) Split EVT: EM1 Electromechanical Mechanical couplings Conversion (8) of EM1 and EM2 (9)(10) Transmission -wheels (11) Chassis (12) Mechanical environment (13) u s_em1 v sdq1 i sdq1 T em1 BAT v dc v dc i inv i inv2 i s_em1 Ф rd1 i ICE ICE Shaft inv1 m EM1 θ d/s1 (26) T ICE ICE ICE T ICE_ref T em2 ICE v dc u s_em2 i sdq1 e s_em1 EM1 Split EVT: EM2 v sdq2 i sdq2 T em2 T em2 EM1 T trans EM1 F trans v hev v hev F res MSe EMR 150 Vehicle speed (km/h) t(s) m EM2 i s_em2 θ d/s2 i sdq2 e s_em2 EM2 Ф rd2 Machines Speed - EM2 (rad/s) 500 θ d/s2_est 0 v dc_mea m EM1_ref u s_em2_ref v sdq2 ref i sdq2_ref T T ICE_est ICE_ref ICE_mea ICE_ref T em2_ref Strategy Speed controller of ICE shaft (22) θ d/s1_est e s_em1_est i sdq_mea Ф rd2_ref T em2_ref Ф rd1_ref T em2_ref T trans_ref F trans_ref v hev_ref -500 t(s) Inversion -based control 70 SOC(%) t(s) v dc_mea PWM VSI 1 (21) u s_em1_ref Inversion of Park 1 (20) [Cheng & al. 2009] v sdq1_ref Current controller of EM1 (19) i sdq1_ref FOC of EM1 (18) T em1_ref Inversion of Mechanical couplings (16)(17) Inversion of Transmissionwheels (15) Vehicle speed controller (14)

15 - unified control for several HEVs - 15 VSI 1 EM 1 R Trans. VSI 1 EM 1 Trans. VSI 1 EM 1 Trans. Battery Fuel ICE VSI 2 EM 2 C S planetary gear R: ring C: carrier S: sun Battery Fuel ICE VSI 2 EM 2 Battery Fuel ICE VSI 2 EM 2 series parallel HEV series HEV parallel HEV Different vehicles can be deduced from a series-parallel HEV LTE v hev EM1 T em1-ref k brake Environ. ICE T ice-ref F brake T 1 1 T 2 2 common EMR for different HEVs EM2 T em2-ref strategy 1 2 ref common control scheme for different HEVs [Chen & al. 2009]

16 - unified control for several HEVs - Bat 16 Chop Fuel ICE EM 2 VSI 2 VSI 1 EM 1 Trans. HIL simulation HIL simulation Bat 600 Machine Speed - EM1 (rad/s) t(s) EM1 torque (Nm) ICE torque (Nm) t(s) t(s)

17 - Hybrid energy storage subsystems - Aalto University, May 2011 LTE DC bus Electric coupling Load C Load U c SE u batt i L1 U c i c Chop. 1 i 1 i U c U c Chop. 2 u 2 U c i charge i L2 SE SE i batt U 1 U c i 2 i sc u sc L 1 L 2 Batt. Induct. 1 m 1 Induct. 2 m 2 Scps Batt SC u 1_ref u 2_ref i batt_re i 1_ref i 2_ref i sc_ref Chop. 1 Chop. 2 U c_mes f i ref k D U c_ref i c_ref i tract_me s 20 Curents 160 Voltages [Allègre & al. 2009] batterie 130 scps i ba 120 i sc tt c batterie u scps batt u s

18 - Validation on an electric bus - Start Arrival v mes 10 5 Velocity (m/s) 18 u batt u scp Voltage (V) Curents (A) Batt Ni-CD = ~ = L 1 ME = Test only for ZEV mode Scps LTE i batt i scp 200 The simplest strategy Scap chargin At standstill Soft commutation t(s)

19 - Collaborations using graphical descriptions - 19 (Canada) (Liverpool, UK) (Warwick, UK) (Spain) (Danmark) (the Netherlands) (Germany) (Harbin, China) (Switzerland) (Beijing, China) (Italy) (Hong kong, China) Industries : Alstom Transport, CETIM, EADS, ETEL, Nexter System, PSA Peugeot Citroën, SAGEM (groupe SAFRAN), ST-micro, SAPELEM, SEPRO robotique, Siemens Transportation Systems, Valéo

20 - EMR 12 Summer School June 2012, Univ. Carlos III, Madrid (Spain) Lille (France), 2008 Harbin (China), 2009 Trois Rivières (Canada) 2011 Lausanne (Switzerland)

21 Graz University of technology (Austria) April 2012 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «Conclusion» Lectures Energy management & EMR pdf files and photos available soon at Many thanks (Vielen Danke) to Prof. Annette Muetze and 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

22 - References - 22 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; , 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 (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 , (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-S , S. Aksas, Hardware-in-the-loop simulation of electric vehicle traction systems using Energetic Macroscopic Representation, IEEE-IECON'06, Paris, November 2006, pp (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. S , 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 (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 (common paper Femto-ST and L2EP Lille, within MEGEVH, French network on HEVs).

23 - References (2) - 23 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 (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 (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 (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 (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 (common paper L2EP Lille and EPF Lausanne). E. S , 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)