Intro to parallel and series/parallel HEV architectures. Vehicle controller design review. CU Boulder ECEN5017, USU ECE
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1 Intro to parallel and series/parallel HEV architectures Vehicle controller design reiew CU Boulder ECEN57, USU ECE 693
2 Parallel HEV n ice T ice Fuel ICE F V DC n T n T n 3-phase Electric T inerter/ motor/ Transmission rectifier generator Energy storage ED Wheels (radius r ) ICE and ED mechanically coupled to combine traction power n ice T ice + n T = nt Reduced size ED; in a micro hybrid, ED is a low power starter/alternator One electric drie: it is not possible to hae electric drie traction and battery charging at the same time Requires multi gear transmission CU Boulder ECEN57, USU ECE 693
3 Series/Parallel HEV n ice T ice Fuel ICE F Energy storage + V batt DC-DC _ V DC 3-phase inerter/ rectifier Electric motor/ generator n T n T Transmission n T ED 3-phase inerter/ rectifier Electric motor/ generator n T Wheels (radius r ) ED ICE, ED and ED mechanically coupled ia a planetary gear; ICE and electric drie can combine traction power Capable of realizing HEV efficiency improements Simple single gear transmission CU Boulder ECEN57, USU ECE 693 3
4 Series/parallel HEV example: 4 Prius Oerall drie train system power rating: 8 kw ( hp) 57 5 rpm Fuel ICE n ice T ice F Energy storage 5 V + V batt DC-DC V DC _ 8 V.3 kwh NiMH boost buck 3-phase inerter/ rectifier 3-phase inerter/ rectifier 5 kw PMSM n Electric T motor/ generator ED ED 5 kw PMSM n Electric T motor/ generator n T Transmission Wheels (radius r ) n T ring = ED, n = n planets = ICE, n ice sun = ED, n n n nt.4nice. 4 nt n nicetice nt Planetary gear ( power split deice (PSD) ) animation: CU Boulder ECEN57, USU ECE 693 4
5 Series/parallel HEV example: 4 Prius Power electronics ( inerters and a boost DC DC) HEV drie train CU Boulder ECEN57, USU ECE 693 5
6 Modes of operation: starting and low speed Oerall drie train system power rating: 8 kw ( hp) 57 5 rpm Fuel ICE n ice T ice F Energy storage 5 V + V batt DC-DC V DC _ 8 V.3 kwh NiMH boost buck 3-phase inerter/ rectifier 3-phase inerter/ rectifier 5 kw PMSM n Electric T motor/ generator ED ED 5 kw PMSM n Electric T motor/ generator n T Transmission Wheels (radius r ) n T ring = ED, n = n planets = ICE, n ice sun = ED, n CU Boulder ECEN57, USU ECE 693 6
7 Modes of operation: cruising Oerall drie train system power rating: 8 kw ( hp) 57 5 rpm Fuel ICE n ice T ice F Energy storage 5 V + V batt DC-DC V DC _ 8 V.3 kwh NiMH boost buck 3-phase inerter/ rectifier 3-phase inerter/ rectifier 5 kw PMSM n Electric T motor/ generator ED ED 5 kw PMSM n Electric T motor/ generator n T Transmission Wheels (radius r ) n T ring = ED, n = n planets = ICE, n ice sun = ED, n CU Boulder ECEN57, USU ECE 693 7
8 Modes of operation: full acceleration Oerall drie train system power rating: 8 kw ( hp) 57 5 rpm Fuel ICE n ice T ice F Energy storage 5 V + V batt DC-DC V DC _ 8 V.3 kwh NiMH boost buck 3-phase inerter/ rectifier 3-phase inerter/ rectifier 5 kw PMSM n Electric T motor/ generator ED ED 5 kw PMSM n Electric T motor/ generator n T Transmission Wheels (radius r ) n T ring = ED, n = n planets = ICE, n ice sun = ED, n CU Boulder ECEN57, USU ECE 693 8
9 Modes of operation: deceleration/braking Oerall drie train system power rating: 8 kw ( hp) 57 5 rpm Fuel ICE n ice T ice F Energy storage 5 V + V batt DC-DC V DC _ 8 V.3 kwh NiMH boost buck 3-phase inerter/ rectifier 3-phase inerter/ rectifier 5 kw PMSM n Electric T motor/ generator ED ED 5 kw PMSM n Electric T motor/ generator n T Transmission Wheels (radius r ) n T ring = ED, n = n planets = ICE, n ice sun = ED, n CU Boulder ECEN57, USU ECE 693 9
10 HEV Summary Electrified drietrain offers efficiency improements Battery system: relatiely small energy capacity, but relatiely large power rating PHEV or EV Fuel displaced by electricity Same efficiency improements as HEV Battery system: large energy capacity and large power rating CU Boulder ECEN57, USU ECE 693
11 Vehicle Controller Design Reiew System small signal model: ref (s) + c (s) f c (s) EV (s) f (s) (s) (s) Vehicle controller c cm z s oal: choose the PI controller parameters cm and w z to minimize settling time T settle upon a step in ref, subject to an oershoot constraint EV example: M = 5; % Vehicle curb weight + 5 kg passenger and cargo Cd =.6; % Coefficient of Drag Cr =.; % Coefficient of Friction A =.6; % Front area [m^] rho_air =.4; % Air density [kg/m^3] CU Boulder ECEN57, USU ECE 693
12 (m/s). C N d AV s Cd AV f.48 mhz M CU Boulder ECEN57, USU ECE 693
13 Loop gain T(s): f s z < f C A V d f M d C A V c z cm T c s CU Boulder ECEN57, USU ECE 693 3
14 s C A V d f M d C A V c Loop gain T(s): f z = f z cm T c s cm / M T s cm fc M CU Boulder ECEN57, USU ECE 693 4
15 s C A V d f M d C A V c Loop gain T(s): f z > f z cm T c s cm / M T s cm fc M CU Boulder ECEN57, USU ECE 693 5
16 Example c (s) f c c M cm cm z s. Hz cm N (m/s) f z. Hz CU Boulder ECEN57, USU ECE 693 6
17 cm f z Loop gain T: magnitude and phase responses N (m/s). Hz Magnitude (db) Bode Diagram 5 5 f c =.7 Hz -5-9 Phase (deg) -35 m = 4 o -8 CU Boulder ECEN57, USU ECE Frequency (Hz) 7
18 Force [N] Speed [mph] Tractie Power [kw] 3 Reference Speed T settle = 7.45 s EV Speed CU Boulder ECEN57, USU ECE f r [N] ref f [N] p [kw] Step ref response p = 9.7 % Drie Force Resistie Force time [sec] Oershoot computed with respect to final ref = mph 8
19 Improed design: choose f z = f f A V Cd s Cd AV M. (m/s) N.48 mhz f c c cm f z f M T M cm N (m/s).48 mhz cm 5 kg z s cm / s M. Hz CU Boulder ECEN57, USU ECE 693 9
20 Loop gain T(s) Bode Diagram Magnitude (db) 5 f c =. Hz Phase (deg) m = 9 o -9 CU Boulder ECEN57, USU ECE Frequency (Hz)
21 Force [N] Speed [mph] 5 Step ref response T settle = 5.54 s p = % Reference Speed EV Speed Drie Force Resistie Force Tractie Power [kw] CU Boulder ECEN57, USU ECE time [sec]
22 Improed design: choose f z = f, increase f c by increasing cm c f z f cm T f c cm z s.48 mhz cm / M s cm N (m/s) M.Hz CU Boulder ECEN57, USU ECE 693
23 Loop gain T(s) 5 Bode Diagram Magnitude (db) Phase (deg) CU Boulder ECEN57, USU ECE Frequency (Hz) 3
24 Force [N] Speed [mph] 3 Step ref response T Reference Speed settle =.55 s EV Speed p =. % Drie Force Resistie Force Tractie Power [kw] 6 4 CU Boulder ECEN57, USU ECE time [sec] 4
25 Improed design: choose f z = f, increase f c by increasing cm further c f z f cm T f c cm z s.48 mhz cm / s M cm M N (m/s) Hz CU Boulder ECEN57, USU ECE 693 5
26 Force [N] Speed [mph] 3 Step ref response Reference Speed T settle =.47 s EV Speed p =. % Drie Force Resistie Force Tractie Power [kw] time [sec] CU Boulder ECEN57, USU ECE 693 6
27 What is the effect of increasing f z? c cm z s f z f.48 Hz cm N (m/s) T f c cm / M s cm M.Hz m o 87.4 CU Boulder ECEN57, USU ECE 693 7
28 Force [N] Speed [mph] 3 5 Step ref response Reference Speed EV Speed T settle =.5 s p =.8 % Drie Force Resistie Force Tractie Power [kw] time [sec] CU Boulder ECEN57, USU ECE 693 8
29 Integrator wind up reference speed [m/s] ref cm wz Integrator s Fcommand Max Force Command Fcommand actual speed [m/s] Vehicle Controller Model Drier is gien PI dynamics to control ehicle speed to a gien reference. Output control alue is the force command gien to the ehicle drie system ia gas/break pedals CU Boulder ECEN57, USU ECE 693 9
30 Preenting integrator wind up Stop integration if required gas pedal exceeds maximum aailable u reference speed [m/s] ref cm wz Product Integrator s Fcommand Max Force Command Fcommand Vehicle Controller Model actual speed [m/s] Drier is gien PI dynamics to control ehicle speed to a gien reference. Output control alue is the force command gien to the ehicle drie system ia gas/break pedals CU Boulder ECEN57, USU ECE 693 3
31 Force [N] Speed [mph] 3 5 Step ref response T settle =.55 s p =. % Reference Speed EV Speed Drie Force Resistie Force Tractie Power [kw] 6 4 CU Boulder ECEN57, USU ECE time [sec] 3
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