APPLICATIONS. Prof. A. Bouscayrol (University Lille1, L2EP, MEGEVH, France) Aalto University Finland May 2011

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1 Aalto University Finland May 2011 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «EMR AND OTHER APPLICATIONS» Prof. A. Bouscayrol (University Lille1, L2EP, MEGEVH, France) based on the works of EV group of Control team of L2EP Lille Aalto University

2 3 Professors 4 Associate Professors 12 PhD students EMR AND OTHER THER APPLICATIONS - Control team of L2EP - «Control» Prof. Prof. B. B. Lemaire-Semal simulation de véhicule Electrique 2 v q N F q V id id C /b i q V id C F T Modelling and and control control tools tools (COG, (COG, EMR, EMR, BMC, BMC, resonant controllers..) C r v q-ref F q- ref V id-ref id-ref C ref A. A. Bouscayrol B. B. Lemaire-S E. E. S S X. «Electricity X. Kestelyn «Electro-active «Multiphase «Machine and and Vehicle Vehicle» tools tools» actuators» machine» Formalisms bring solutions for new applications New applications lead to the improvement of formalisms

3 - Energy management for HEV with supercapacitors - 3 SuperCaps Fuel tank chopper Battery IC Engine electric PM power rectifier inverter generator SM electronics Inv1 electric IM machine Inv1 IM1 IM2 drive Unit drive Unit Master of W. Lhomme, 2004 (Switzerland) [Lhomme & al. 2009]

4 - Energy management for HEV with supercapacitors - 4 SuperCaps resistors Fuel tank supercapacitor bank inductors choppers chopper Battery IC Engine electric PM power rectifier inverter generator SM electronics drive Unit drive Unit u Scaps (V) Inv1 electric IM machine Inv1 measurement set IM1 IM2 controller board 110 t (s) Master of W. Lhomme, (Switzerland) [Lhomme & al. 2009]

5 - EMR of a Fuel Cell - 5 réserve H 2 pertes canal 1 q H2 PEMFC Air P S_H2 atmosphèr e q H2ref q H2_out H 2 q H2 P H2 q H2_out P SC_ H2 P SC_ PH2 SC_ H2 q O2 q H2+ q c_ H2 pertes canal accumulateur H 2 2 réserve O 2 pertes canal 1 Fluidique P SC_ H2 q C_H2 Loi de Nertz Air atmosphèr e q O2_out O 2 q O2ref P S_O2 H 2 O q O2 P O2 q O2_out P SC_O2 P SC_O2 P SC_O2 q O2+ q c_o2 pertes canal accumulateur O 2 2 Thermodynamique T H2O eau froide (Q/T) H2 O q H2O (Q/T) H2 O T PAC T PAC Sq T PAC P SC_O2 q C_O2 T PAC Sq 0 Sq n T PAC E 0 E I PAC I PAC V I PAC Sq Loi de Tafel E N I PAC Electrique V M I PAC V c dynamique PAC I PAC V Charge électrique [Chrenko & al. 2008] [Hissel & al. 2008] I PAC ch

6 - EMR of triple-drive paper system - 6 (Canada) M2 tension roll AC bus unwinding roll winding roll M1 M3 DC bus [Djani & al. 2006] Master of Y. Djani, 2004

7 - EMR of triple-drive paper system - 7 (Canada) V vsi1-ref i im1-ref T im1-ref shaft1-ref v roll1-ref T band1-ref unwinding roll drive paper bands ES winding roll drive ES ES tension roll drive T band2-ref [Djani & al. 2006] v roll3-ref Master of Y. Djany, 2004

8 - EMR of dual drive with multiphase machines - A 5-leg Voltage Source Inverter for supplying two 5-phase machines with special series connection 8 5-leg VSI 5-phase machine 1 stator connection 5-phase machine 2 stator 1a 1'a 2a 1b i 1a 1'b 2b i 2a V DC 1c i 1b 1'c 2c i 2b 1d i 1c 1'd 2d i 2c 1e i 1d 1'e 2e i 2d i 1e i 2e N

9 - EMR of dual drive with multiphase machines (2)- 9 5-leg VSI global windings fictitious machines shaft DC bus transformation series connections mechanical coupling load VDC v vsi v mvsi i m i m e m x) i m1 e m1 i s1 e s1 MM1 SM1 T m1 T s1 T tot1 Machine 1 T load1 ivsi i mach svsi MM1 & SM2 in series v svsi i s speed (rad/s) 80 70i s 1 e s time (s) i s2 e s2 i m2 e m2 SM2 MM2 T s2 T m2 Machine 2 T tot2 T load2 MM2 & SM1 in series [S & al. 2005]

10 - HIL simulation of the studied WECS - mechanical part electrical part 10 MS ES FOC PWM MPPT [Bouscayrol & al. 2006] (Denmark)

11 - HIL simulation of the studied WECS (2) - 11 controlled load drive load ES ES T im PWM HIL simulation of WECS ref = mod T im_est mach v wind Controller board P elec MS FOC PWM MPPT [Bouscayrol & al. 2006] (Denmark)

12 - EMR of a hybrid storage system - 12 Master of T. Bossman, 2006 PV panel DC/DC DC/AC supercapacitor bank DC/DC DC/AC PMSM air compressed accumulators hydraulic machine (Switzerland) [Bossmann & al. 2007] oil tank

13 - EMR of a hybrid storage system - 13 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

14 - military HEV - Bat 1 Aalto University, May Res Res Res tank ICE Res Res Res Bat 1 traction current (A) storage systems traction systems generation systems Bat 1 Res 2 mechanical transm. ICE Aux. Env. [Boulon & al. 2010] Bat 2 Res 2 Vectorial model

15 - military HEV - Aalto University, May [Boulon & al. 2010]

16 Existing starter alternator used to start low size engines - 7-phase starter-alternator - Aalto University, May 2011 Conception of a new starter alternator for bigger size engines Starter Alternator Reversible System Solution tested : multiphase claw pole machine SE V DC i VSI v VSI i machine m VSI v VSI ref v M1 v M1ref i M1 v M2 i M2 v M3 0 0 i M3 i M1 M1 e M1 e M1 i M2 e M2 i M3 e M3 M2 M3 i M1ref T M1 T M2 T M3 4 Control of the drive Vector control using EMR and multimachine concept T T Load SM Characterization with Finite Element Method modeling [Bruyére & al. 2008] 3 Virtual prototype

17 - 7-phase starter-alternator - v DC v F i F i F e F-S1 Aalto University, May phase machine = 3 (dq) fictitious machines i hach i F e SR m hach v M1 i M1 i M1 em1 e M1 T M1 3 vector control + distribution criteria reduction of noise + better efficiency SE v DC i DC v DC i ond m ond v ond i mach v ond ref v M2 i M2 v M3 i M3 v M1ref v M2ref i M2 e M2 i M3 i M3 e M2 e M3 M2 im1ref i i M2ref T M2 T M3 M3 T M1 ref T M2 ref T SM T ref v M3ref i M3ref T M3 ref k v Fref i Fref i F mes generator mode

18 VSI 2 - HEV using an EVT - Aalto University, May i inv2 i inv v dc i inv1 T ICE T EM1 Rotor1 T EM1 T EM2 Stator2 BAT Fuel tank ICE Trans. Ω ICE Ω Stator1 EM2 Rotor2 VSI 1 DC bus parallel Inverters connection v dc θ d/s2 u s2 Split EVT Split EVT EM1 EM2 Induction machines Mechanical coupling v s2_dq i s2_dq T em2 T l Trans. Wheels Chassis Environ. BAT v dc i inv i inv2 i s2 m s2_r ef θ d/s2 i s2_dq e s2_dq Ω EM2 ICE Ω T ICE ICE_ref Shaft of ICE T ICE Ω ICE T EM1 T EM1 Ω EM2 T tot Ω EM2 F tot v hev v hev F res MSe i inv1 v dc u s1 i s1 m s1_ref v s1_dq i s1_dq T EM1 i s1_dq e s1_dq Ω EM1 [Cheng & al. 2009]

19 - HEV using an EVT - Aalto University, May DC bus (2) Parallel connexion (4) Inverters (5) Park s Transformation (6) Windings (7) Split EVT: EM1 Electromechanical Mechanical couplings Conversion (8) of EM1 and EM2 (9)(10) Transmission -wheels (11) Chassis (12) Mechanical environment (13) u s_em1 v sdq1 i sdq1 T em1 BAT v dc v dc i inv i inv2 i s_em1 Фrd1 i ICE ICE Shaft inv1 m EM1 θ d/s1 (26) T ICE ICE ICE T ICE_ref T em2 ICE v dc u s_em2 i sdq1 e s_em1 EM1 Split EVT: EM2 v sdq2 i sdq2 T em2 T em2 EM1 T trans EM1 F trans v hev v hev F res MSe EMR 150 Vehicle speed (km/h) t(s) m EM2 i s_em2 θ d/s2 i sdq2 e s_em2 EM2 Фrd2 Machines Speed - EM2 (rad/s) 500 θ d/s2_est 0 v dc_mea m EM1_ref u s_em2_ref v sdq2 ref i sdq2_ref T T ICE_est ICE_ref ICE_mea ICE_ref T em2_ref Strategy Speed controller of ICE shaft (22) θ d/s1_est e s_em1_est i sdq_mea Ф rd2_ref T em2_ref Ф rd1_ref T em2_ref T trans_ref F trans_ref v hev_ref -500 t(s) Inversion -based control 70 SOC(%) t(s) v dc_mea PWM VSI 1 (21) u s_em1_ref Inversion of Park 1 (20) [Cheng & al. 2009] v sdq1_ref Current controller of EM1 (19) i sdq1_ref FOC of EM1 (18) T em1_ref Inversion of Mechanical couplings (16)(17) Inversion of Transmissionwheels (15) Vehicle speed controller (14)

20 - unified control for several HEVs - Aalto University, May VSI 1 EM 1 R Trans. VSI 1 EM 1 Trans. VSI 1 EM 1 Trans. Battery Fuel ICE VSI 2 EM 2 C S planetary gear R: ring C: carrier S: sun Battery Fuel ICE VSI 2 EM 2 Battery Fuel ICE VSI 2 EM 2 series parallel HEV series HEV parallel HEV Different vehicles can be deduced from a series-parallel HEV LTE v hev EM1 T em1-ref k brake Environ. ICE T ice-ref F brake T 1 1 T 2 2 common EMR for different HEVs EM2 T em2-ref strategy 1 2 ref common control scheme for different HEVs [Chen & al. 2009]

21 - unified control for several HEVs - Bat Chop Aalto University, May Fuel ICE EM 2 VSI 2 VSI 1 EM 1 Trans. HIL simulation HIL simulation Bat 600 Machine Speed - EM1 (rad/s) t(s) EM1 torque (Nm) ICE torque (Nm) t(s) t(s)

22 - Hybrid energy storage subsystems - Aalto University, May 2011 LTE DC bus Electric coupling Load C Load U c SE u batt i L1 U c i c Chop. 1 i 1 i U c U c Chop. 2 u 2 U c i charge i L2 SE SE i batt U 1 U c i 2 i sc u sc L 1 L 2 Batt. Induct. 1 m 1 Induct. 2 m 2 Scps Batt SC u 1_ref u 2_ref i batt_re i 1_ref i 2_ref i sc_ref Chop. 1 Chop. 2 U c_mes f i ref k D U c_ref i c_ref i tract_me s 20 Curents 160 Voltages [Allègre & al. 2009] batterie 130 scps i ba 120 i sc tt c batterie u scps batt u s

23 - Validation on a hybrid bus - Start Arrival v mes 10 5 Aalto University, May 2011 Velocity (m/s) 23 u batt u scp Voltage (V) Curents (A) Batt Ni-CD = ~ = L 1 ME = Test only for ZEV mode Scps LTE i batt i scp 200 The simplest strategy Scap chargin At standstill Soft commutation t(s)

24 - EMR Summer School - EMR 11, 4-7 July 2011, EPF Lausanne (Switzerland) Aalto University, May EMR 12, June 2012? Univ Carlos III (Madrid, Spain) EMR 06 Lille, EMR 08 (Harbin, China), EMR 09 (Trois Rivières,Canada).EMR 2013?

25 Aalto University Finland May 2011 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «Conclusion» Lectures HEVs & EMR pdf files and photos available at 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 Aalto University

26 - References - 26 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). 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).

27 - References (2) - 27 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, 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). 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)