EMR 11 Lausanne July S. A. Syed 1,3, W. Lhomme 1,3, A. Bouscayrol 1,3, O. Pape 2,3, B. Petitdidier 2,3

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1 EMR 11 Lausanne July 2011 Joint Summer School EMR 11 Energetic Macroscopic Representation S. A. Syed 1,3, W. Lhomme 1,3, A. Bouscayrol 1,3, O. Pape 2,3, B. Petitdidier 2,3 1 L2EP, University of Lille 1; 2 NEXTER Systems; 3 MEGEVH, France

2 - Outline Introduction 2- Double Planetary Gear 3- Modeling 4- Results & Conclusion

3 EMR 11 Lausanne July 2011 Joint Summer School EMR 11 Energetic Macroscopic Representation 1- Introduction Why HEV? Context and Aim Partners Objective

4 Oil (Gb) Discovered Reserves 500 Cumulative Consumption Year Source : Book: [M. Ehsani 2005] Remaining Reserves - Why HEV? - Oil Supply Ends World Co2 Emission 4 Source : [ IEA 2009] ESS Fuel PE ICE EM2 Trans. PE1 ESS Fuel PE2 EM1 ICE EM2 Trans. ESS PE1 PE2 Fuel EM1 ICE EM2 P S D Trans. Parallel Series Series - Parallel

5 - Context - Hybrid vehicles heavy vehicles Two privileged architectures: series and parallel Limitation for the power split structure: - important factors: mechanical constraints and space reduction (simple planetary gear is not capable) - use of a compound planetary gear: allows great mechanical constraints in reduced space - Aim - Evaluate the interest of power-split hybrid for heavy vehicles with a double planetary gear for military applications (strong constraints in instantaneous power) for civil applications (strong constraints in energy) 5

6 - Partners - L2EP: Formalism of modeling, synthesis of control and control structures based on the law of causality 6 INRETS: Storage system storage and energy management FEMTO-ST: Design of the electrical machines with magnets and associated electronics BATSCAP: Development, production and selling of batteries Polymeric Methal Lithium and supercapacitors NEXTER SYSTEMS (coordinator): Skills in electrical and mechanical transmission

7 - Objective - 7 L2EP: Formalism of modeling, synthesis of control and control structures based on the law of causality Precise model to understand the involved critical factors Exploits the benefits of powertrains through modeling Representation to show energetic flow

8 EMR 11 Lausanne July 2011 Joint Summer School EMR 11 Energetic Macroscopic Representation 2- Double Planetary Gear Architecture Kinematics

9 - Architecture - 9 r R Ring gear (R) Have 2 layers of pinion gear i.e. Inner and Outer Have 2 sun gears i.e. Small and Large Small sun meshed with inner pinion gear and large sun with outer r LS r SS Inner Planet (IP) Large Sun (LS) Small Sun (SS) Planet-Carrier (PC) Outer Planet (OP) The architecture of this geartrain is highly compact which leads less space with higher efficiency

10 - Kinematics - 10 The fundamental relationships is derived by Willis equation. The fundamental relationship for Speed: The two gear ratios for PSD are: The fundamental relationship for Torque: The basic principle for deriving the relationships are: one gear must rotate so as to maintain a fixed ratio of angular speeds relative to one fixed body.

11 EMR 11 Lausanne July 2011 Joint Summer School EMR 11 Energetic Macroscopic Representation 3- Modeling of the Vehicle Studied System Modeling EMR

12 Studied System consists of: A Double Planetary Geartrain - Studied System - 12 Three machines i.e. EM1,EM2 & ICE Three gearboxes Two convertors with one battery A Transmission The gearbox in the transmission line ensure to start the vehicle with the engine in all circumstances.

13 Battery + Invertors Machines + Gearbox Shafts TEM1 TLS ΩLS - Modeling - PSD Transmission + Chassis + Wheels 13 udc ΩEM1 ΩLS TEM1_ref udc icon1 Batt iconv udc TEM2 TR Tx ΩR TLS ΩLS TR ΩR ΩPC TPC TICE ΩICE TPC ΩPC ΩPC Ttran Ttran Ωtran Ftran vveh k vveh Env. Fenv ΩEM2 icon2 ΩR TEM2_ref Global energetic view Ty ICE TICE ΩICE TICE_ref ΩICE TSS TBrake Brake Ωtran TBrake_ref ESS PE1 fuel. EM1 ICE GB R SS Series-Parallel hybrid One equivalent wheel PE2 EM2 GB LS PC Trans. + GB

14 Ω EM1 Ω ICE Ω EM2 Structural representation: 4 shafts, so 4 speed variables J EM1 J ICE J EM2 Functional representation: 2 independent speed variables R SS LS PC J W - Modeling - ΩEM1 ΩICE ΩEM1 ΩICE ΩEM2 2 dimensional accumulation element ΩEM2 vveh ΩPC 14 vveh ΩPC 36 ways of Modeling due to eight different categories of speed and torques

15 Battery - Energetic Macroscopic Representation - Inverter Electric Machines Mechanical Shafts Mechanical Gearbox + Mechanical With Gearboxes Coupling 1 Coupling 2 Wheel Coupling 3 15 Envio- rnment Engine Brake PE1 EM1 GB R ESS fuel. ICE SS PE2 EM2 GB LS PC Trans. + GB Series-Parallel hybrid

16 Battery - EMR and Inversion-based Control - Inverter Electric Machines Mechanical Shafts Mechanical Gearbox + Mechanical With Gearboxes Coupling 1 Coupling 2 Wheel Coupling 3 16 Envio- rnment

17 EMR 11 Lausanne July 2011 Joint Summer School EMR 11 Energetic Macroscopic Representation 4- Results & Conclusion

18 Mode 1: only electric Mode 2: regenerative braking Simulation Results - Mode 3: only engine Mode 5: hybrid traction 18 t (s) t (s) V veh (km/hr) 70 kw P EM1 (kw) F brake (kn) t (s) P EM2 (kw) t (s) t (s) P DC (kw) P ICE (kw) Assumptions: no losses for both EMs / no clutch / use of the last gear t (s)

19 - Conclusion - 19 The modeling of hybrid truck with double planetary gear is realized by EMR. The modeling proves that EMR have the global capabilities to represent the complex devices. EMR enables to provide complete information regarding to the system as its functional perspectives The goal had been achieved to obtain a complete understanding of complex devices such as double planetary gear. In the future, for detailed study the considerations like losses, complex gearboxes with clutch, etc. could be considered and compared.

20 EMR 11 Lausanne July 2011 Joint Summer School EMR 11 Energetic Macroscopic Representation References

21 - References - S. A. Syed, W. Lhomme, A. Bouscayrol, B. Vulturescu, S. Butterbach, O. Pape, B. Petitdidier, "Inversion-based Control of Series-Parallel HEV for Municipal Trucks", IEEE Vehicle Power and Propulsion Conference (VPPC 11), September, S. A. Syed, W. Lhomme, A. Bouscayrol, O. Pape, G. LeTrouher, Modeling of Power Split Device for Heavy-Duty Vehicle, IEEE Vehicle Power and Propulsion Conference (VPPC 10), September, G. LeTrouher, "Dispositif de traction hybride pour véhicule lourd", Patent- FR , 2nd January A.C. Sautter, V. Venaille, G. Le Trouher, J.L. Bouysset, O. Pape; "ARCHYBALD: an hybrid transmission for heavy vehicles", IEEE Vehicle Power and Propulsion Conference (VPPC 10), September, O. Pape, W. Lhomme, D. Depernet, B. Vulturescu, L. Bregeon; "ARCHYBALD project on new HEV powertrains", IEEE Vehicle Power and Propulsion Conference (VPPC 10), September, 2010.

22 EMR 11 Lausanne July 2011 Joint Summer School EMR 11 Energetic Macroscopic Representation Thank you