«EMR AND APPLICATIONS

Transcription

1 EMR applications October 2013 «EMR AND APPLICATIONS» Prof. A. Bouscayrol (University Lille1, L2EP, MEGEVH, France) based on the works of EV group of Control team of L2EP Lille

2 EMR AND APPLICATIONS - EMR of a hybrid storage system - Master of T. Bossman, PV panel DC/DC DC/AC supercapacitor bank DC/DC DC/AC PMSM air compressed accumulators hydraulic machine (Switzerland) [Bossmann & al. 2007] oil tank

3 EMR AND APPLICATIONS - EMR of a hybrid storage system - 3 Scaps Master of T. Bossman, 2006 PV chopper 1 dc bus VSI 1 load PV panel i i DC/DC DC/AC pv chop1 i tot u cap u vsi1 PV load u scaps i filt u chop1 s chop1 i filt u chop2 s chop2 u cap u cap i chop2 u cap i tot DC/DC u cap supercapacitor Scaps inductor chopper 2 i bank vsi2 s vsi2 u vsi2 i sm DC/AC i sm e sm T sm shaft PMSM shaft T hm u cap VSI 2 PMSM hydraulic (Switzerland) machine [Bossmann & al. 2007] q hm i vsi1 q oil p valv m valv hydraulic machine oil valvetank i oad s vsi1 air accumulator q oil air compressed accumulators p air q oil p atm oil oil tank

4 EMR AND APPLICATIONS - EMR of a hybrid storage system - 4 PV load MPPT Scaps ON/OFF oil MEPT u cap-ref ON/OFF

5 EMR AND APPLICATIONS rail - Control of subway VAL 206 traction system - power electronics DC machines mechanical power train environ. 5 ES MS EMR control v ref [Verhille & al. 2007]

6 EMR AND APPLICATIONS rail - Control of subway VAL 206 traction system - power electronics DC machines mechanical power train environ. 6 ES MS EMR control v ref v ref simplifications [Verhille & al. 2007]

7 EMR AND APPLICATIONS Tdcm_ref wh22_mes wh21_mes wh12_mes wh11_mes strategy - Anti-slip control - v sub_mes F tot1_ref v sub_ref Actual control: slip detection 7 Torque set to zero T dcm_ref F bog_ref shaft2_mes T dcm2_ref shaft2_ref wh2_ref k W2 k D2 F bog2_ref v sub_mes New strategy: slip detection wh22_mes wh21_mes wh12_mes wh11_mes new strategy k D F tot1_ref v sub_ref Reduction of torque of the slipping wheel T dcm1_ref shaft1_mes shaft1_ref wh1_ref k W1 k D1 F bog1_ref Increase of other torques

8 EMR AND APPLICATIONS - Simulation results - Loss of adhesion of wheel no. 1 8 actual control velocity (m/s) New anti-slip strategy velocity (m/s) v sub_ref v sub v sub_ref v sub traction force (Nm) F tot (Nm) traction force (Nm)

9 MEGEVH - High-redundancy military HEV - 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 F tot 6 F tract 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 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 9

10 MEGEVH - High-redundancy military HEV - battery sets connections 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 F tot 6 F tract 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 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 -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 [Boulon & al. 2010] i g2-meas i tot3-ref u C2-ref Strategy = coordination of subsystems Divide and conquer! 10

11 SE SE SE MCC dem SM k d e m MS ar MEGEVH - Control of a double parallel HEV - 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 11

12 MEGEVH - Control of 3008 HY4 - Bat.HT V bat-ht I bat-ht Bat.BT V bat-bt I bat-bt V bat-ht I dcdc-bt I dcdc-ht V bat-bt P HT-BT-ref V bat-bt Ch.BT I ch-bt V bat-ht I mel-tot V bat-ht C dem Dem I hach Ω dem C dem-ref V bat-ht I mel-av C ressort I mel-ar V bat-ht Ω mth Mth. C mth C mth-ref Ω mth ME ar C melar-ref ME av C melav-ref C mel-ar Ω mel-ar C mel-av C mth Ω mth C av Ω emb C mel-ar Ω mel-ar C mel-ar Ω mel-ar C av Ω emb C av Ω emb Ω mel-ar C crab2 Ω emb C emb2 C crab Ω red C crab Ω P red crab C emb Ω bv Cemb Ω bv p emb C crab Ω red C emb Ω bv C red Ω rouear C bv Ω roue-av K bv F roue-ar v veh F roue-av v veh Freins F tract v veh F freins v veh F freins-ref Ftot v veh v veh F res Env. I dcdc-bt-ref C mth-ref 1 I bat-bt-ref C melav-ref C av-ref k rep-melav-mth 1 C av-ref C av-ref Ω mth-emb_open Cemb-ref Cemb-ref C bv-ref F roue-av-ref F tract-ref k rep-av-ar F tot-ref v veh-ref Validation on «HIL»plate-form C melar-ref Ω melar-crab_open C mel-ar-ref C crab-ref strategy C crab-ref C red-ref F roue-ar-ref Validation on prototype [Letrouvé 13] 12

13 MEGEVH - From the simulation to the prototype - Ω rem Modelling Ω ice EMR Control SOC bat_hv Conso ice SimVHP and Inversion based control deduced from EMR Simulation HIL simulation Prototype HIL simulation 3008 HY4 [Letrouvé & al. 2012] 13

14 Automatic subway VAL supplied by a DC rail EMR AND APPLICATIONS - Subway NeoVAL using supercapacitor - energy savings cost reduction safety operation modern product 14 Supercapacitor storage system without supply rail 4 Simulation of the global system using EMR 3 Different topologies of power electronics 2 Sizing of Supercaps bank 1 Sizing of on-board energy Supercapacitor bank of L2EP Matlab-Simulaink model of VAL 206 [Allègre & al. 2010]

15 EMR AND APPLICATIONS - On-board inversion-based control of NeoVAL - 15 DC bus ESS (Energy Storage Subsystem) parallel connection Electric drive inverter induction machine Mech. power train gearbox wheel chassis Environment u c u c u c u inv i im T im T gb F wheel v sub env. i c i inv i im gb wheel v sub F res i tot u c R i R i chop1 u c u chop2 i L SC u R u c i chop2 i L u sc Braking Chopper Chopper Inductance SC bank resistor 1 2 s chop1 s chop2 u 2_ref i R_meas m chop2_meas U c_meas ESS control i chop1_ref i chop2_ref u c_meas i tot_ref k d i L_ref P tract u sc_meas s tract Drive control Motion control PWM FOC ref U c_ref i c_ref i inv_meas u inv_ref i im_ref T im_ref T gb_ref F wheel_ref v sub_ref

16 computer ESS in station Interface EMR AND APPLICATIONS - Subway NeoVAL using supercapacitor - on-board ESS Interface emulated traction system 16 Grid Fibre optique 1 Smoothing inductor dspace rectifier Chopper 1 2 inverter Chopper 2 SC1 SC1 SC2 SC2 1 Slow charge of SC1 2 Fast transfer to SC2 3 Traction operation 4 Energy recovery 3 Smoothing inductor Scps voltage(v) Induction Machine t(s) experimental U sc2 Controlled DC machine Chopper 3 Mechanical Powertrain model track profile Next steps : Full-scale HIL simulation test on a real vehicle

17 MEGEVH - HEV using Electric Variable Transmission - Series Parallel HEVs: high efficiency for cars (e.g. Toyota Prius) use of a single planetary geartrain (SPG) use of 1 ICE and 2 Electric Machines (EMs) new topology using a EVT integration of EMs and SPG no real comparison between EVT-based and SPG-based HEVs Technical Requirements for Prius II? EVT for Toyota Prius II? (LTE-IFSSTAR, FEMTO-ST, HIT) EVT design with PMSM? (FEMTO-ST, HIT) Control of the EVT-based vehicle (L2EP, LTE-IFSTTAR, HIT) Comparison with Toyota Prius II T em1 em1 T em2 (LTE-IFSTTAR, L2EP, HIT) [Cheng 2011] em2 17

18 MEGEVH - HEV using Electric Variable Transmission - ICE ICE shaft EVT sub-system T ice ice ice T em1 T ice-ref u bat i vsi1 u bat Bat. EMR for the development of the control d/s1 u vsi1 v dq1 i dq1 T em1 T em1 i em1 m vsi1 i dq1 e dq1 em1 em2 d/s2 u bat u vsi2 v dq2 i dq2 T em2 T tot i tot i vsi2 i em2 i dq2 e dq2 em2 em2 m vsi2 wheels F wh F bk Brake d/s2 F bk-ref chassis F tot Env. F res 150 Vehicle Speed(km/h) Time(s) EM1 Power(kW) 0 Time(s) Battery Power(kW) Time(s) EM1 Speed(rpm) 50 ICE Power(kW) 25 Time(s) EM2 Power(kW) Time(s) SOC(%) 80 Time(s) EM2 Speed(rpm) d/s1 v vsi2-ref v dq2-ref i dq2-ref T em2-ref T em1-ref T tot-ref F wh-ref k D F tot-ref -ref Time(s) Time(s) v vsi1-ref v dq1-ref i dq1-ref T em1-ref 50 EM1 id current(a) 250 EM2 id current(a) ICE-ref T EM1-ref i d1-ref i d2-ref strategy SOC est, driver request 0-50 Time(s) Time(s) Simulation of a drive cycle (EUDC) Comparison of the EVT-based HEV with Toyota Prius II: EVT-based vehicle has more consumption all operation modes and dynamics are possible efficiency should be increased at high velocity EVT has to be re-design in that objective 18

19 MEGEVH Strategy - Hybrid Truck using a Double Planetary Geartrain - ESS PE1 PE2 Fuel EM1 ICE EM2 S P G Trans. Extension to heavy vehicle? (strong constraints on a single GT Series Parallel HEV: well adapted for cars Design of the DPG vehicle? (FEMTO-ST, Nexter) Energy management? (L2EP, Nexter) application 1: Garbage truck (IFSTTAR) application 2: military truck (Nexter) Double Planetary geartrain Patent of 19

20 MEGEVH - Hybrid Truck using a Double Planetary Geartrain - EMR, inversion-based control and multi-level energy management Experimental validation using HIL simulation in progress vveh (km/h) (a) Vehicle Speed t (s) PEM1 (pu) t (s) (e) EM1 Power PhD S. Syed 2012 (b) Functions t (s) PEM2 (pu) (f) EM2 Power t (s) PICE (pu) t (s) (c) Operating Modes (g) ICE Power t (s) (d) Power Flows t (s) PDC (pu) (h) DC Bus Power Reduction of energy consumption for various cycles t (s) 20

21 EMR AND APPLICATIONS - References - 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). Y. Cheng, R. Trigui, C. Espanet, A. Bouscayrol, S. Cui, " Analysis of Technical Requirements from the Toyota Prius II for the Design of a PM-EVT, IEEE transactions on Vehicular Technology, November 2011, vol. 60, no. 6, pp (common paper L2EP Lille, LTE-INRETS, FEMTO-ST and Harbin Institute of Technology, 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). 21

22 EMR AND APPLICATIONS - References (2) - 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, T. Letrouvé, A. Bouscayrol, W. Lhomme, N. Dollinger, F. Mercier-Calvairac, Reduced-scale Hardware-In-the-Loop simulation of a Peugeot 3 8 Hybrid4 vehicle, IEEE-VPPC 12, Seoul (Korea), October 2012 (common paper of L2EP Lille and PSA Peugeot Citroën within the framework of MEGVEVH, French network on HEVs) 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). C. Mayet, M. Mejri, A. Bouscayrol, J. Pouget, Y. Riffonneau, Energetic Macroscopic Representation and inversion-based control of the traction system of a hybrid locomotive, IEEE-VPPC 12, Seoul (Korea), October 2012 (common paper of L2EP Lille and SNCF within the framework of MEGVEVH, French network on HEVs) 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) 22