« emr and applications · tot1 u c1 u c1 u c2 bat2 v bat2 i l2 i l2 u h2 m h2 i h2 u c2 u c2 i mt1...

EMR applicationsOctober 2013

«« EMR EMR AND AND AAPPLICATIONS PPLICATIONS »»

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

based on the works of “EV” group of Control teamof L2EP Lille

http://emrwebsite.org/

Lille, January Z0132

EMREMR AND AND AAPPLICATIONSPPLICATIONS

PV panelDC/DC DC/AC

supercapacitorbank

DC/DC DC/ACPMSM

hydraulicmachine

oiltank

air compressedaccumulators

(Switzerland)[Bossmann & al. 2007]

Master of T. Bossman, 2006

- EMR of a hybrid storage system -



PV panelDC/DC DC/AC

supercapacitorbank

DC/DC DC/ACPMSM

hydraulicmachine

oiltank

air compressedaccumulators

PV chopper 1

PVichop1

schop1

loadivsi1

svsi1

ucap

ucap

uvsi1

ioaduchop1

ipv

VSI 1 loaddc bus

schop2

uchop2 ucap

ifilt

Scapsifilt

uscaps ichop2

itot

itot

ucap

ucap

Scaps inductor chopper 2 ivsi2svsi2

ucap uvsi2

ism

ism

esm

Tsm

shaft

shaft

Thm

oil

qhm

pvalv

qoil

mvalvpatm

qoil

qoil

pair

VSI 2 PMSM hydraulicmachine

valveoil tank

air accumulator

(Switzerland)[Bossmann & al. 2007]

Master of T. Bossman, 2006




PV load

oil

Scaps

MEPTON/OFFucap-ref

MPPT

ON/OFF




vref

control

rail

ES MS

power electronics DC machines mechanical power train environ.

EMR

[Verhille & al. 2007]

- Control of subway VAL 206 traction system -



vref

control

simplifications

vref

rail

ES MS

power electronics DC machines mechanical power train environ.

EMR

[Verhille & al. 2007]

- Control of subway VAL 206 traction system -



vsub_refFtot1_ref

Fbog_ref

strategywh22_meswh21_meswh12_mes

wh11_mes

Tdcm_ref

vsub_mesTdcm_ref Actual control:slip detection

Torque set to zero

vsub_refFtot1_ref

Fbog2_ref

kD

wh2_ref

shaft2_refTdcm2_ref

kD2kW2

wh1_ref

kD1kW1

Fbog1_ref

newstrategy

wh22_meswh21_meswh12_meswh11_mes

shaft1_mes

Tdcm1_ref

shaft2_mes

vsub_mes

shaft1_ref

New strategy:slip detection

Reduction of torqueof the slipping wheel

Increase of othertorques

- Anti-slip control -



- Simulation results -

vsub_refvsub

vsub_refvsub

actual control New anti-slip strategy

Loss of adhesion of wheel no. 1

Ftot (Nm)traction force (Nm)traction force (Nm)

velocity (m/s) velocity (m/s)

9

MEGEVH

Bat1

Bat1

Res Res Res

ResResRes

tank ICE

traction current (A)

[Boulon & al. 2010]

uC2

ig2

ig1

uC1

uC1

Tice

Ttot

gen

gen

gen

Tg1Tg1-ref

double generator

ICE

Tg2-ref

Tice-ref Tg2

Bat1Vbat1 iL1

iL1 uh1mh1

ih1

itot1

uC1

uC1

uC2

Bat2Vbat2 iL2

iL2 uh2mh2

ih2uC2

uC2

iMT1

iMT2

battery sets

DC buses

connections

itot3

6

6

Ttot

gear

Tm1

mvsi1

Tm2

itot1

uC1

em1im1

uvsi1 im1

em2im2

uvsi2 im2

mvsi2

gear

gearitot2

uC2

vhev

Environ.Fres

6vhev

Brake

vhevFbk

Fbk-ref

vhev

FtractFtotTgear Fwh

wh vhev

double-machine drive wheel and brake chassis

-- HighHigh--redundancy military HEV redundancy military HEV --

10

MEGEVH

[Boulon & al. 2010]

uC2

ig2

ig1

uC1

uC1

Tice

Ttot

gen

gen

gen

Tg1Tg1-ref

double generator

ICE

Tg2-ref

Tice-ref Tg2

Bat1Vbat1 iL1

iL1 uh1mh1

ih1

itot1

uC1

uC1

uC2

Bat2Vbat2 iL2

iL2 uh2mh2

ih2uC2

uC2

iMT1

iMT2

battery sets

DC buses

connections

itot3

6

6

uC2-refitot3-refig2-meas

uh2-ref

iL2-ref ih2-ref

gen-ref Ttot-ref kD

Tg1-ref

Tg2-ref

Ttot

gear

Tm1

mvsi1

Tm2

itot1

uC1

em1im1

uvsi1 im1

em2im2

uvsi2 im2

mvsi2

gear

gearitot2

uC2

vhev

Environ.Fres

6vhev

Brake

vhevFbk

Fbk-ref

vhev

FtractFtotTgear Fwh

wh vhev

vhev-refFtot-ref

kD2

Twh1-ref

Tm2-ref

Ftract-refTm1-ref

kD4

Twh1-ref Fwh-ref

kD3im1-refuvsi1-ref

m1-ref

m2-ref

uC2-refitot3-refig2-meas

uh2-ref

iL2-ref ih2-ref

double-machine drive wheel and brake chassis

strategy

Divide and conquer!

Strategy = coordination of subsystems

-- HighHigh--redundancy military HEV redundancy military HEV --

11

MEGEVH

energymanagement?

new concept

2

Simulation of various casesand energy management

Implementationon prototypes

3

1EMR and

control

[Letrouvé & al. 2011]

LV Load

ICE

Rear Electric machine

EmbHV Battery

BV

Front Electric machine

LV Battery

STRATEGY

SE

MS ar

SM

SE

MCCdem

SE

kdem

SE

MELar

SM

SM

MELav

SM

SE

SE

kdem

MCCdem

-- Control of a double parallel HEV Control of a double parallel HEV --

12

MEGEVH - Control of 3008 HY4 -

Idcdc-BT

Vbat-BT

Ωmth

Ibat-HT

Vbat-HT Imel-ar

Vbat-HT

Mth.

Cmth

Vbat-HT

Cav

2 4

1 3

2 4

1 3

ME ar

ME av

Vbat-HT

Imel-tot

Cressort

ΩmthCmth

Ωmth

Vbat-HTImel-av

Cmel-ar

Ωmel-ar

Cmel-av

Ωemb

Cmel-ar

Ωmel-arCmel-ar

Ωmel-ar Ccrab2

Ωmel-ar Ccrab

Ωred

Ccrab

Ωred Ccrab

Ωred

Cred

Ωroue-ar

Froue-ar

vveh

vveh

Froue-av

Ωroue-av

Cbv3 4

1 2

3 4

1 2

Cav

ΩembCav

Ωemb Cemb2

Ωemb Cemb

Ωbv

Cemb

Ωbv Cemb

Ωbv

Cmth-ref

Cmelav-ref

Cmelar-ref

pemb

Pcrab

Kbv

Bat.HT

Env.vveh

vvehFtot

Fresvveh

Ftract

Freinsvveh

Ffreins

Ffreins-ref

Idcdc-HT

Vbat-HT

PHT-BT-ref

Ωdem

Cdem

Ihach

Vbat-HT

Ch.BT

Vbat-BT

Ibat-BT

Ich-BT

Vbat-BT

Dem

Cdem-ref

Bat.BT

vveh-ref

Ωmelar-crab_open

Ωmth-emb_open

Ibat-BT-ref

Cmth-ref

Cmelav-ref

Cmelar-ref

1

32

4

1

23

4Ftract-ref

Froue-av-ref

Froue-ar-refCred-ref

Cbv-refCemb-ref

Ccrab-refCcrab-ref

Cmel-ar-ref

Cav-ref Cemb-ref

Cav-refCav-ref

krep-av-arkrep-melav-mth

Ftot-ref

Idcdc-BT-ref

strategy

Validation on « HIL » plate-form

Validation on prototype

[Letrouvé 13]

13

MEGEVH

Modelling

Simulation

Control

Prototype

EMR

HIL simulation

HIL simulation

[Letrouvé & al. 2012]

Ωrem

Ωice

SOCbat_HV

ConsoiceSimVHP and Inversion based control deduced from EMR

3008 HY4

-- From the simulation to the prototype From the simulation to the prototype --



Automatic subway VALsupplied by a DC rail

Supercapacitor storage systemwithout supply rail

• energy savings• cost reduction• safety operation• modern product

1 Sizing of on-boardenergy

3 Different topologies of

power electronics

2 Sizing of Supercaps

bank

Supercapacitor bank of L2EP

4 Simulation of the global

system using EMR

Matlab-Simulaink model of VAL 206 [Allègre & al. 2010]

- Subway NeoVAL using supercapacitor -



Tgb

wheel

inverter induction machine

uinv

iimiinv

ucuc

uc

schop2

iL

uchop2

SC

uc

Chopper

2

iLR

Braking

resistor

ichop1

schop1

uR

iR

ic

uc

itot

ic_ref

itot_ref

iinv_meas

iL_refichop2_ref

u2_ref

ichop1_ref

iR_meas

uc_meas

Uc_ref

Ptractusc_meas

DC bus parallel connection

kd

gb

Tim Fwheel vsub

vsub Fres

vsub_refFwheel_refTgb_refTim_refuinv_ref

uc ichop2 usc

gearbox wheel chassis

Chopper

1

iim

iim_ref

SC bank

ESS (Energy Storage Subsystem)

ESS

control

Electric drive Mech. power train

Drive control

Environ-

ment

env.

PWM ref

Motion control

FOC

stract

Uc_meas

Inductance

mchop2_meas

- On-board inversion-based control of NeoVAL -



- Subway NeoVAL using supercapacitor -

computer

SC1 SC1

dSPACE

Interface

Fibreoptique

rectifier

Chopper 1

Grid

Smoothinginductor

SmoothinginductorSC2 SC2

Interface

inverter

Chopper 2

InductionMachine

Controlled DC machine

Chopper 3

MechanicalPowertrain

model

ESS in station on-board ESSemulated

traction system

track profile

1

1 Slow charge of SC1

2 Fast transfer to SC2

2

Next steps : Full-scale HIL simulationtest on a real vehicle

3

4

Traction operation

Energy recovery

3

4

0 10 20 30 40 50 60 70120

125

130

135

140

t(s)

Scps

volta

ge(V

)

experimental Usc2

17

MEGEVHMEGEVH

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 betweenEVT-based and SPG-based HEVs

EVT for Toyota Prius II?• Technical Requirements for 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(LTE-IFSTTAR, L2EP, HIT)

Tem1

em1

Tem2

em2

- HEV using Electric Variable Transmission -

[Cheng 2011]

18

MEGEVH

Tem2-ref

Fbk-ref

ivsi1

ubat vhev

Env.Fres

Brake vhev

Fbk

vhevvhev

FtotFwhTtot

em2

chassis

Tice

Tem1

ice

ice

ICE

Tice-ref Tem1

em1

em2

Tem2

idq1

idq1 edq1

vdq1uvsi1

iem1

d/s1

idq2

idq2 edq2

vdq2uvsi2

iem2

d/s2

Bat.

mvsi1

ubat

ubat

itot ivsi2

Tem1

em2wheels

EVT sub-systemICE shaft

ICE-ref

mvsi2

vhev-refFtot-ref

kD

Fwh-refTtot-refidq2-refvdq2-refvvsi2-ref

idq1-refvdq1-refvvsi1-ref Tem1-ref

TEM1-ref

Tem1-ref

strategy SOCest, driver request

id2-refid1-ref

d/s1

d/s2

EMR for the development of the control

0 200 400 600 800 1000 12000

50

100

150Vehicle Speed(km/h)

Time(s)0 200 400 600 800 1000 12000

25

50ICE Power(kW)

Time(s)

0 200 400 600 800 1000 1200-20

0

20EM1 Power(kW)

Time(s)0 200 400 600 800 1000 1200-50

-250

2550 EM2 Power(kW)

Time(s)

0 200 400 600 800 1000 1200-40-20

02040

Battery Power(kW)

Time(s)0 200 400 600 800 1000 120060

80

100SOC(%)

Time(s)

0 200 400 600 800 1000 1200-2000

0

2000

4000EM1 Speed(rpm)

Time(s)

0 200 400 600 800 1000 12000

2000

4000

6000EM2 Speed(rpm)

Time(s)

0 200 400 600 800 1000 1200-100

-50

0

50EM1 id current(A)

Time(s)

0 200 400 600 800 1000 1200-500

-250

0

250 EM2 id current(A)

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

- HEV using Electric Variable Transmission -

19

MEGEVHMEGEVHStrategy

Series–Parallel HEV: well adapted for cars

ICE

PE1 EM1

PE2 EM2

ESS

Trans.SPG

Fuel

Extension to heavy vehicle?(strong constraints on a single GT

Double Planetary geartrain

Patent of

• Design of the DPG vehicle?(FEMTO-ST, Nexter)

• Energy management?(L2EP, Nexter)

• application 1: Garbage truck(IFSTTAR)

• application 2: military truck(Nexter)

- Hybrid Truck using a Double Planetary Geartrain -

20

MEGEVH

EMR, inversion-based controland multi-level energy management

(a) Vehicle Speed

t (s)

vveh (km/h)

(e) EM1 Power

t (s)PEM1 (pu)

(b) Functions

t (s)

(f) EM2 Power

t (s)PEM2 (pu)

(c) Operating Modes

t (s)

(g) ICE Power

t (s)

PICE (pu)

(d) Power Flows

t (s)

(h) DC Bus Power

t (s)PDC (pu) Reduction of energy

consumption for various cycles

Experimental validation usingHIL simulation in progress

- Hybrid Truck using a Double Planetary Geartrain -

PhD S. Syed2012



- 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; 213 – 220, 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. 4001 - 4012 (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. 2654 - 2663, (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-Semail, S. Aksas, “Hardware-in-the-loop simulation of electric vehicle traction systems using Energetic Macroscopic Representation”, IEEE-IECON'06, Paris, November 2006, pp. 5319 – 5324 (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. Semail, 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. 80-89 (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. 4106 - 4114 (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. 4501-4505 (common paper Femto-ST and L2EP Lille, within MEGEVH, French network on HEVs).



- 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. 80-89 (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. 73-79 (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. 603-623 (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. 2081-2088 (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. 5-14 (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. Semail, 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)

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