EM 12 Madrid June 2012 Joint Summer School EM 12 Energetic Macroscopic epresentation «FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» L. Boulon 1, A. Bouscayrol 2, D. Hissel 3, O. Pape 4, M-C. Péra 3 1 Université du Québec à Trois-ivières, Hydrogen esearch Institute, Canada 2 L2EP, University Lille1, MEGEVH network 3 FEMTO-ST, UM CNS 6174, University of Franche-Comté, France 4 Nexter Systems, Satory, France loic.boulon@uqtr.ca
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» Why using hybrid or electric technologies in military vehicles? - Objectives of the study - Autonomy EM 12, Madrid, June 2012 Stealth (noise, heat, infrared) Mobility Flexible architecture Degraded mode 2 Objectives of the study Energy management in case of failure Consequences of a power axle failure on the vehicle behavior (several strategy tested)
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Outline - EM 12, Madrid, June 2012 3 1. Presentation of the vehicle 2. Previous works 3. System behavior in case of failure 4. Driver abilities for fault compensation
EM 12 Madrid June 2012 Joint Summer School EM 12 Energetic Macroscopic epresentation «Presentation of the Vehicle»
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Presentation of the vehicle Generalities EM 12, Madrid, June 2012 5 The DPE 6x6 (Electric Propulsion Demonstrator) Hybrid Electric Drive Demonstrator Armored Soldier transport Vehicle (20t) 6 driving wheels Electric mode (Stealth mode) Performances Max Speed: 105km/h (65miles/h) Specific power 30hp/t ange (tank capacity: 400L) 750km in hybrid mode 15km in stealth mode
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Presentation of the vehicle Technical sights EM 12, Madrid, June 2012 6 Series Hybrid Diesel / Batteries (Ni-Mh) 6 driving wheels edundancy of the electric part Double electric machines Generator and wheel motors (Permanent Magnet Synchronous Machine) 2 DC buses et 2 battery packs
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Presentation of the vehicle Architecture EM 12, Madrid, June 2012 7 Double machines: 2 stators, 1 rotors Bat DC bus 1 3 inverter legs and 1 chopper on each stator ICE double PMSM DC bus 2 Fix mechanical reductor gear Bat
EM 12 Madrid June 2012 Joint Summer School EM 12 Energetic Macroscopic epresentation «Previous works»
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Global EM and inversion based control- EM 12, Madrid, June 2012 9 T ice ICE g T ice-ref g-ref g T tot T tot-ref g T g2 T g1 T g1-ref T g2-ref k D1 V bat1 i L1 i h1 Bat1 i L1 u h1 u C1 m h1 i tot1 T g2-ref T g1-ref i g1 i g2 V bat2 Bat2 i L2 i L2 u C2 u h2 mh2 m h2-ref u h2-ref uc1 i h2 u C2 u C1 i tot2 u C2 u c1 i TM1 u c2 i TM2 i C2-ref u C2-ref m br1 1 u br1 i 1 u c1 u c1 6 i tot3 u c2 6 i tot4 i br2 m br2 i 2 i br1 i m1 2 u c2 u c1 u c2 i m2 u br2 i L2-ref i h2-ref i m2-meas i tot2-ref i g2-meas i g1-meas i tot1-ref i TM2-ref k D3 i tot4-ref k D2 i br2-ref strategy i L1-ref i h1-ref i m1-meas 2-machine wheel T m1-ref T m1 wh T m2 wh T m2-ref T m2-ref T m1-ref k D5 T wh wh T wh-ref F wh v hev F bk Brake SOC est, user requets F mb-ref F wh-ref k D4 chassis F tract v hev v hev 6 F tot v hev Today Focus on the traction part v hev Env. F res F tract-ref F tot-ref v hev-ref Simulation model Experimental validation Simulation of the control structure u h1-ref i TM1-ref i tot3-ref i L1-meas Vbat1-meas u C1-meas i C1-ref u C1-ref i br1-ref m bk1 m h1 u C1-meas i 1-meas
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Traction part EM and inversion based control- EM 12, Madrid, June 2012 10 EM of a wheel 2 electric machines (map) common rotation speed control input = torque ref. Vectorial representation Only 1 wheel is represented Each variable is a vector (6) Scalar are independents Inversion based control structure Distribution criteria appear Strategy Set the distribution criteria
EM 12 Madrid June 2012 Joint Summer School EM 12 Energetic Macroscopic epresentation «System behavior in case of failure»
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - System behavior in case of failure - EM 12, Madrid, June 2012 12 An strong acceleration with a constant force is simulated The driver equivalent control part is removed Bat A complete axle failure is simulated a switch is open in the model part of the simulation ICE Bat double PMSM DC bus 1 DC bus 2 Energy management e-organisation of the strategy if the fault is detected
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - System behavior in case of failure No fault EM 12, Madrid, June 2012 13 Good Behavior
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - System behavior in case of failure Powered axle EM 12, Madrid, June 2012 14 Lower acceleration
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - System behavior in case of failure Powered axle EM 12, Madrid, June 2012 15 Good behavior
EM 12 Madrid June 2012 Joint Summer School EM 12 Energetic Macroscopic epresentation «Driver abilities for fault compensation»
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Driver abilities for fault compensation - EM 12, Madrid, June 2012 17 Previous tests have been realized with a constant requested force. In real vehicle operation, the driver can compensate the fault by acting on the throttle pedal On DPE 6x6 : driver request is a ratio of the full power : P ref = 0 P ref = 0.5 P max P ref = 1 P max In the case of the non detected fault, we can assume the driver will push on the throttle Does the driver can compensate the fault? Study on torque limitations
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Driver abilities for fault compensation - EM 12, Madrid, June 2012 18 Power axle failure is simulated at t=0s The driver requests P max For the specific case of the DPE 6x6, the reference torque is always over the limitation (even without failure) without re-configuration with re-configuration The driver can compensate any fault by acting on the throttle pedal Nevertheless, the re-configuration is usefull if the system reaction time is under the driver reaction time
EM 12 Madrid June 2012 Joint Summer School EM 12 Energetic Macroscopic epresentation «Conclusion & Future Works»
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - Conclusion & Perspectives- EM 12, Madrid, June 2012 20 Thanks to EM, it is possible to dissociate the modeling, the control and the energy management studies of a complex system. With only one control structure, we can design many strategies and energy management. This work is a first study of fault-operation modes of DPE 6x6. Future works will study several other failure like generator or DC bus losses.
EM 12 Madrid June 2012 Joint Summer School EM 12 Energetic Macroscopic epresentation «EFEENCES»
«FAULT-OPEATION MODES OF A HIGHLY EDUNDANT MILITAY HEV» - eferences - EM 12, Madrid, June 2012 22 Loïc BOULON, Alain BOUSCAYOL, Daniel HISSEL, Olivier PAPE, Marie-Cécile PÉA, "Inversion-based control of a highly redundant military HEV", IEEE Trans. On Vehicular Technology, Under review Loïc BOULON, Daniel HISSEL, Marie-Cécile PEA, Olivier Pape, Alain BOUSCAYOL, "Simulation model of a Military HEV with a Highly edundant Architecture, IEEE trans. on Vehicular Technology, vol.59, no.6, pp.2654-2663, July 2010. Loïc BOULON, Alain BOUSCAYOL, Daniel HISSEL, Olivier PAPE, Marie-Cécile PÉA, " Faultoperation Modes of a Highly edundant Military HEV, IEEE Vehicle Power and Propulsion Conference (VPPC) 2012, Seoul (South Korea), 2012. Alain BOUSCAYOL, Loïc BOULON, Daniel HISSEL, Olivier PAPE, ochdi TOGUI, "Energetic Macroscopic epresentation and inversion-based control of a hybrid vehicles: application to a military hybrid truck", European Electric Vehicle Conference 2011, Brussels (Belgium), 2011. Loïc BOULON, Daniel HISSEL, Marie-Cécile PEA, Olivier Pape, Alain BOUSCAYOL, "Energy based modeling of a 6 wheel drive hybrid heavy truck", In proc. of IEEE VPPC 09 (ISBN CD- OM : 978-1-4244-2601-0), Dearborn, Michigan(USA), September 7-11, pp1316-1321, 2009.