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Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« EMR EMR AND AND OOTHER THER
AAPPLICATIONS PPLICATIONS »»
Prof. A. Bouscayrol(University Lille1, L2EP, MEGEVH, France)
based on the works of “EV” group of Control teamof L2EP Lille
http://emr.univ-lille1.fr/
HEVs & EMR, Aalto, May 20112
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Fq/b
Vid id C
Vid-ref id-ref CrefFq-
ref
vq-ref
vqN
FTCriq Vid C
simulation devéhicule Electrique
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
« Control »Prof. B. Lemaire-Semal
« Control »Prof. B. Lemaire-Semal
- “Control” team of L2EP -
3 Professors4 Associate Professors12 PhD students
A. Bouscayrol« Electricityand Vehicle »
A. Bouscayrol« Electricityand Vehicle »
X. Kestelyn«Machine tools »
X. Kestelyn«Machine tools »
B. Lemaire-Semail« Electro-active
actuators »
B. Lemaire-Semail« Electro-active
actuators »
E. Semail« Multiphasemachine »
E. Semail« Multiphasemachine »
Formalisms bring solutions for new applications
New applications lead to the improvement of formalisms
HEVs & EMR, Aalto, May 20113
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Master of W. Lhomme, 2004
ICEngine
Fuel tank
powerelectronics
electricgenerator
electricmachine
drive Unit
rectifierPMSM inverter IM
drive Unit
IM2
IM1Inv1
Inv1
BatteryBatterychopper
SuperCaps
- Energy management for HEV with supercapacitors -
(Switzerland) [Lhomme & al. 2009]
HEVs & EMR, Aalto, May 20114
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Master of W. Lhomme, 2004
ICEngine
Fuel tank
powerelectronics
electricgenerator
electricmachine
drive Unit
rectifierPMSM inverter IM
drive Unit
IM2
IM1Inv1
Inv1
BatteryBatterychopper
SuperCaps
- Energy management for HEV with supercapacitors -
inductors choppers
measurementset
supercapacitorbank
resistors
controllerboard
0 50 100 150 20090
110
130
150 uScaps (V)
t (s)(Switzerland) [Lhomme & al. 2009]
HEVs & EMR, Aalto, May 20115
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
qC_O2
PSC_O2
O2
qO2
PO2
qO2
PSC_O2
AirqO2+qc_O2
PSC_O2
PSC_O2
qO2_out
pertes canal 2
pertes canal 1
réserveO2
accumulateur O2atmosphère
PS_O2 qO2_out
qO2ref
qC_H2PSC_
H2
H2
qH2
PH2
qH2
PSC_
H2
AirqH2+qc_ H2
PSC_
H2
PSC_
H2
qH2_out
pertes canal 2
pertes canal 1
réserveH2
accumulateur H2atmosphère
PS_H2qH2_out
qH2ref
E0
E
IPAC
TPAC
Sq0 IPAC
EN
IPAC
Loi de NertzFluidique
SqnTPAC
VTPAC
Sq IPAC
VM
IPAC
Loi de Tafel
TPAC
SqTPAC
(Q/T)H2
O
TH2O
(Q/T)H2
O
H2O
qH2O
eau froide
Thermodynamique
V
IPAC
IPAC
Vc
ch
Chargeélectrique
dynamiquePAC
Electrique
- EMR of a Fuel Cell -
PEMFC
[Chrenko & al. 2008] [Hissel & al. 2008]
HEVs & EMR, Aalto, May 20116
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
M1 M3
M2 tension roll
winding rollunwinding roll
DC bus
AC bus
- EMR of triple-drive paper system -
(Canada)
Master of Y. Djani, 2004[Djani & al. 2006]
HEVs & EMR, Aalto, May 20117
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
ES’
ES’ ES’
Tband1-refiim1-ref Tim1-ref shaft1-refVvsi1-ref vroll1-ref
Tband2-ref
vroll3-ref
- EMR of triple-drive paper system -
(Canada)
winding roll drive
unwinding roll drive
tension roll drive
paperbands
Master of Y. Djany, 2004[Djani & al. 2006]
HEVs & EMR, Aalto, May 20118
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
1a
1b
1c
1d
1e
i1a
i1b
i1c
i1d
i1e
VDC
1'a
1'b
1'c
1'd
1'e
2a
2b
2c
2d
2e
i2a
i2b
i2c
i2d
i2e
N
5-leg VSI 5-phase machine 1
stator 5-phase machine 2
stator connection
A 5-leg Voltage Source Inverter
for supplying
two 5-phase machines with special series connection
- EMR of dual drive with multiphase machines -
HEVs & EMR, Aalto, May 20119
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Machine 1
Machine 2
MM1 & SM2 in series
MM2 & SM1 in series
me
se
vsiv
machi
mvsiv
mi
svsiv
si
DC bus
5-leg VSI
transformation
ivsi
VDC
svsi
fictitious machines
mechanical coupling load
shaft
mi
si
Tm1
Ts1
Ttot1
Tload1
MM1
SM1
Ts2
Tm2
Ttot2
Tload2
SM2
MM2
1si
global windings
series connections
x)1mi
1me
2si
2se
2me
2mi
1se
speed (rad/s)
time (s)0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 10
102030405060708090100
1
2
[Semail & al. 2005]
- EMR of dual drive with multiphase machines (2)-
HEVs & EMR, Aalto, May 201110
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- HIL simulation of the studied WECS -
PWMFOC
MPPT
MS ES
mechanical part electrical part
(Denmark)[Bouscayrol & al. 2006]
HEVs & EMR, Aalto, May 201111
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
[Bouscayrol & al. 2006] (Denmark)
Controllerboard
HIL simulationof WECS
- HIL simulation of the studied WECS (2) -
PWMFOC
MPPT
MS
ES
Tim_estref= mod
ES
PWM
controlled load drive
Tim
load
vwind
mach
Pelec
HEVs & EMR, Aalto, May 201112
EMREMR AND AND OOTHER THER 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 -
HEVs & EMR, Aalto, May 201113
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
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
- EMR of a hybrid storage system -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201114
ICE Aux.
Bat1
Bat2
Env.
Res2
Res2generation systems
storage systems traction systems
mechanical transm.
Vectorialmodel
Bat1
Bat1
Res Res Res
ResResRes
tank ICE
traction current (A)
[Boulon & al. 2010]
- military HEV -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201115
[Boulon & al. 2010]
- military HEV -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201116
Existing starter alternatorused to start low size engines
Conception of a newstarter alternator
for bigger size engines
1 2Solution tested :
multiphase claw pole machineStarter Alternator
Reversible System
4
Control of the drive
Vector control using EMRand multimachine concept
vM1ref
0
0
iM1ref
T
SM
vM1
eM1
M1
M2
M3
iM1
iM2
iM3
vM2
vM3
eM3
eM2
TM1
TM2
TM3
iM1
iM2
iM3
SEVDC
iVSI
TLoad
vVSI
imachine
mVSI
vVSI ref
vM1refvM1ref
0
0
iM1refiM1ref
T
SM
vM1
eM1
M1
M2
M3
iM1
iM2
iM3
vM2
vM3
eM3
eM2
TM1
TM2
TM3
iM1
iM2
iM3
SEVDC
iVSI
TLoad
vVSI
imachine
T
SMSM
vM1vM1
eM1eM1
M1M1
M2M2
M3M3
iM1iM1
iM2iM2
iM3iM3
vM2vM2
vM3vM3
eM3eM3
eM2eM2
TM1
TM2
TM3
iM1iM1
iM2iM2
iM3iM3
SEVDC
iVSI
TLoad
vVSIvVSI
imachineimachine
mVSImVSI
vVSI refvVSI ref
3 Virtual prototype
Characterization withFinite Element Method
modeling[Bruyére & al. 2008]
- 7-phase starter-alternator -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201117
eF-S1
eSR
iF
vDC T
SM
vM1
eM1
TM1
TM2
TM3
iM1
iM3
iond
vond
imach
mond
ihach
SE
vDC
iDC
vF
iF
mhach
iF
vM1ref iM1refvond refiM2ref
iM3ref
vM2ref
vM3ref
vF ref iF ref
M1
M2
M3
vDC
T ref
k
T M1 ref
vM2
vM3
iM2
iM1
iM2
iM3
eM2
eM3
T M2 ref
T M3 ref
i F mes
eF-S1
eSR
iF
vDC T
SMSM
vM1vM1
eM1eM1
TM1
TM2
TM3
iM1iM1
iM3iM3
iond
vondvond
imachimach
mondmond
ihach
SE
vDC
iDC
vF
iF
mhach
iF
vM1refvM1ref iM1refiM1refvond refvond refiM2refiM2ref
iM3refiM3ref
vM2refvM2ref
vM3refvM3ref
vF ref iF ref
M1
M2
M3
vDC
T ref
kk
T M1 ref
vM2vM2
vM3vM3
iM2iM2
iM1iM1
iM2iM2
iM3iM3
eM2eM2
eM3eM3
T M2 ref
T M3 ref
i F mes
7-phase machine = 3 (dq) fictitious machines
3 vector control + distribution criteria
reduction of noise + better efficiency
generator mode
- 7-phase starter-alternator -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201118
Tl iinv
Split EVT EM1
Stator1ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1TICE
iinv1
BAT Fuel tank ICE Trans.
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT EM2
Mechanicalcoupling
vdc
DC bus
BAT
ΩEM2
TEM1
TEM1 ΩEM2
Ttot
ΩEM1
parallelconnection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1iinv1
θd/s2
es2_dqis2_dq
vs2_dq is2_dq
Induction machines
Tem2
es1_dqis1_dq
vs1_dq is1_dq TEM1
is2
is1
θd/s2
Shaft of ICE
ΩICE
ΩICETICEICE
TICE_ref
Ftot
Trans.Wheels
ΩEM2 Fres
MSe
Environ.Chassis
vhev
vhev
[Cheng & al. 2009]
- HEV using an EVT -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201119
[Cheng & al. 2009]
ICE_mea
TICE_ref
Фrd1
Фrd2_ref
mEM1_ref
us_EM1
Vehicle speedcontroller
(14)
Strategy
Ftrans
Tem2vsdq2
isdq2 EM2
us_EM2
is_EM2
isdq2
θd/s2
Park’s Transformation
(6)
us_EM1_ref
DC bus(2)
Parallel connexion
(4)
Inverters (5)
Windings(7)
Electromechanical Conversion (8)
Mechanical couplings of EM1 and EM2
(9)(10)
Transmission -wheels
(11)
Mechanical environment
(13) Chassis
(12)
EMR
TICE
ICE Shaft (26)
ICE
vdc BAT
iinv
vdc
vdc iinv2
iinv1 ICE
Tem2
ICE
mEM1
mEM2
EM1
Tem2
vhev
Fres
Ttrans
EM1 vhev MSe
Ftrans_ref vhev_ref
Tem2_ref
Tem1_ref
ICE_ref
TICE_est
Tem2_ref
isdq1_ref
us_EM2_ref
Inversion of Transmission- wheels (15)
Inversion of Mechanical couplings
(16)(17)
Speed controller of ICE shaft (22)
Inve
rsio
n -b
ased
con
trol
ICE
TICE_ref
isdq2_ref
es_EM1_est
Split EVT: EM1
Tem1 vsdq1
isdq1 es_EM1 EM1is_EM1
isdq1
θd/s1
Split EVT: EM2
es_EM2
vsdq2 ref
Ttrans_ref
vsdq1_ref FOC of
EM1 (18)
Current controller of EM1 (19)
Inversion of Park 1
(20)
PWM VSI 1
(21)
Tem2_ref
Фrd1_ref
Фrd2
θd/s2_est
isdq_mea θd/s1_est
vdc_mea
vdc_mea
0 200 400 600 800 10000
50
100
150 Vehicle speed (km/h)
t(s)
0 200 400 600 800 1000
-500
0
500 Machines Speed - EM2 (rad/s)
t(s)
0 200 400 600 800 100040
50
60
70SOC(%)
t(s)
- HEV using an EVT -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201120
ICE
VSI 1 EM 1
VSI 2 EM 2
Battery
Trans.
FuelICE
VSI 1 EM 1
VSI 2 EM 2
Battery
Trans.
Fuel
series parallel HEV series HEV parallel HEV
ICE
VSI 1 EM 1
VSI 2 EM 2
Battery
Trans.R
C
S
Fuel planetary gearR: ringC: carrierS: sun
Different vehicles can be deduced from a series-parallel HEV vhev
Fbrake
12
ICE
Environ.
brake
Tice-ref
k
T1T2
EM2
Tem2-ref
EM1
Tem1-ref
strategy
12 ref
common EMR for different HEVs
common control schemefor different HEVs[Chen & al. 2009]
LTE
- unified control for several HEVs -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201121
0 200 400 600 800 10000
200
400
600 Machine Speed - EM1 (rad/s)
t(s)
0 200 400 600 800 1000-200
0
200 EM1 torque (Nm)
t(s)
0 200 400 600 800 1000-200
0
200ICE torque (Nm)
t(s)
ICE VSI 2EM 2Fuel
Chop
Bat
VSI 1 EM 1 Trans.
Bat
HIL simulation HIL simulation
- unified control for several HEVs -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 2011
Batt
Chop. 2
L2
SC
C Load
Chop. 1
L1
Uc
isc
u2
SEUc
Chop. 2iL2
SEi1
U1
iL1
ic
Uc
i
DC busElectric coupling
Chop. 1
ScpsBatt.
SE
ubatt
Uc
icharge
ic_ref
iref
itract_me
s
isc_refi2_ref
u2_ref
i1_ref
Uc_mes
Uc_ref
kD
ibatt_re
f
uscUc i2ibatt
Induct. 1
Induct. 2
m1
u1_ref
m2
Load
Uc
Voltages
0 60 120 180-40
-30
-20
-10
0
10
20
batteriescpsiba
ttisc0 60 120 180
110
120
130
140
150
160
batteriescpsubattus
c[Allègre & al. 2009]
Curents
LTE
- Hybrid energy storage subsystems -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201123
0 50 100 150 200 250 300 3500
5
10
0 100 200 300-200
0
200
100
200
Velocity (m/s)
Curents (A)
Voltage (V)
vmes
iscp
ibatt
ubattuscp
t(s)
The simplest strategyThe simplest strategy
Start Arrival
LTE
=
=L1
Scps
BattNi-CD
~
=ME
Scap charginAt standstill
Softcommutation
Test only for ZEV mode
- Validation on a hybrid bus -
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
Aalto University, May 201124
- EMR Summer School -
EMR’11, 4-7 July 2011, EPF Lausanne (Switzerland)
EMR’12, June 2012? Univ Carlos III (Madrid, Spain)
EMR’06 Lille, EMR’08 (Harbin, China), EMR’09 (Trois Rivières,Canada)….EMR’2013?
Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« Conclusion Conclusion »»Lectures “HEVs & EMR”
pdf files and photos available athttp://emr.univ-lille1.fr/
Many thanks (Kiitos) to Dr. Anouar BELAHCEN!!for proposal, invitation and organization of this unit
We hope EMR could be a useful method in your future works!
Alain, Walter & Lucia
HEVs & EMR, Aalto, May 201126
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- 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).
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).
HEVs & EMR, Aalto, May 201127
EMREMR AND AND OOTHER THER AAPPLICATIONSPPLICATIONS
- 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,
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).
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)