EMR 15 Lille June 2015 Summer School EMR 15 Energetic Macroscopic Representation «EMR AND ENERGY MANAGEMENT FOR HEAVY-DUTY HYBRID VEHICLES USING DOUBLE PLANETARY GEARTRAIN» Dr. Walter LHOMME, Prof. Alain BOUSCAYROL L2EP, University of Lille 1, MEGEVH network Mr. Guy LE TROUHER Nexter Systems, MEGEVH network ARCHYBALD Presentation based on the PhD thesis of Dr. Sajjad A. SYED
- Outline - 2 1. Context and Objective 2. Modeling, EMR and Inversion-based Control 3. Multi-level Energy Management & Results 4. Conclusion
EMR 15 Lille June 2015 Summer School EMR 15 Energetic Macroscopic Representation «1. CONTEXT AND OBJECTIVE»
- Which HEV is used for Trucks? - 4 Series HEV only operated to charge batteries is operated at its maximum efficiency point More conversion stages. ESS PE1 PE2 Fuel Series EM1 EM2 Trans. Parallel HEV ESS Fuel Both and motor connected to transmission. PE EM2 Trans. Less conversion stages and higher efficiency. Parallel
Series-Parallel HEVs: - Which HEV is used for Trucks? - 5 flexible to operate in either series or parallel mode. more efficient than series or parallel more complex due to Power Split Device (PSD) ESS PE1 PE2 Fuel EM1 EM2 P S D Series - Parallel Trans. Series-Parallel Heavy-duty HEVs Limitation for the PSD: mechanical constraints and space reduction (simple planetary gear is not capable)
- Context - 6 Heavy-Duty HEV Series or Parallel (Mack / Volvo / OSHKOSH, etc.) No Series-Parallel (Limitation of PSD) New PSD proposed by NEXTER SYSTEM [Patent] (Double Planetary Geartrain)
- Aim - 7 Study of heavy-duty series-parallel HEVs using the new PSD for military applications (strong power constraints) for civil applications (strong energy constraints) Garbage Truck Military Truck
- ARCHYBALD: Partners - 8 L2EP: Formalism of modeling, synthesis of control IFSTTAR: Storage system FEMTO-ST: Design of the electrical machines BATSCAP: Development, production and selling of batteries and scaps NEXTER SYSTEMS (coordinator): Skills in electrical and mechanical transmission
Battery ESS (Batteries + Supercaps) - Studied Vehicles - 9 Electric Convertors Electric Convertors Garbage Military truck EM 1 Gear Box Brake EM 2 Gear Box LS R PSD SS PC 2 Dual- Gear Range Box Gearbox Hydraulic Coupler Differential Fuel Tank Brake
EMR 15 Lille June 2015 Summer School EMR 15 Energetic Macroscopic Representation «2. MODELING, EMR AND INVERSION-BASED CONTROL»
- Modeling: Garbage Truck - 11 Studied System consists of: A Ravigneaux Geartrain Three machines i.e. EM1,EM2 & Three gearboxes i Conv 1 u bat Battery i Conv 2 EM 1 T EM1 f EM1 EM1 T J EM1 f T y EM1 J Gearbox 1 k 1 T R R T SS LS R PC SS Gearbox 2 T LS LS T PC PC k 2 k 3 T x EM2 Gearbox 3 T m J EM2 f W J W f EM2 T W T EM2 EM2 EM 2 v veh F brake F env. W W F brake
Battery + Invertors Machines + Gearbox Shafts TEM1 TLS ΩLS - Modeling - PSD Transmission + Chassis + Wheels 12 udc ΩEM1 ΩLS TEM1_ref udc icon1 Batt iconv udc TEM2 TR Tx ΩR TLS ΩLS TR ΩR ΩPC TPC T Ω TPC ΩPC ΩPC Ttran Ttran Ωtran Ftran vveh Env. Fenv k vveh ΩEM2 icon2 ΩR TEM2_ref Global energetic view Ty T Ω T_ref Ω TSS Brake TBrake Ωtran TBrake_ref ESS PE1 fuel. EM1 GB R SS Series-Parallel hybrid One equivalent wheel PE2 EM2 GB LS PC Trans. + GB
EM1 EM2 «EMR and EMS for Hybrid Trucks using Double Planetary Geartrain» Structural representation: 4 shafts, so 4 speed variables J EM1 J J EM2 R SS LS PC PC v veh J W - Modeling - ΩEM1 ΩEM1 Functional representation: d ΩEM2 2 independent speed variables TA T J f dt PC PC TB T ΩEM2 o 4 Shafts EM 2 n 1 EM 1 Strong ( n 1 1) mechanical PC 0 Constraints o Constraints of wheels, etc. o Instead of 5 State variables o Constraints n 2 EM 1 ( itself n 2 1) of PCPSD 0 36 ways Only of Representation 2 independent due to eight different categories of, PC F( EM 1, EM 2) speeds and torques Ω Ω T T 2 dimensional accumulation element A B T PC T PC C D vveh ΩPC 13 vveh ΩPC C D
Battery Electric Machines With Gearboxes - Final EMR (Garbage Truck) - Equivalent Shafts with Gearbox and Wheels Enviornment Chassis 14 Batt. u bat i bat u bat i Con1 u bat T EM1 EM1 T EM1_ref T EM2 T R R T LS T A T B PC PC T C T D PC T GB3 T W T W v veh F Tot v veh Env. F env F brake Bra. v veh i Con2 EM2 LS T _ref F Brake_ref T EM2_ref Engine Brake PE1 EM1 GB R ESS fuel. SS PE2 EM2 GB LS PC Trans. + GB Series-Parallel hybrid
Battery Electric Machines - Tuning Path - Equivalent Shafts with Gearbox and Wheels 15 Enviornment With Gearboxes Chassis Batt. u bat i bat u bat i Con1 u bat T EM1 EM1 T EM1_ref T EM2 T R R T LS T A T B PC PC T C T D PC T GB3 T W T W v veh F Tot v veh Env. F env F brake Bra. v veh i Con2 EM2 LS T _ref F Brake_ref T EM2_ref Engine Brake Objective: V Veh / Optimumpointsfor (, T ) Tuning Variables: T EMF _1 ref // TT _2_ ref ref / Brake _ ref
Battery Electric Machines - Control Path - Equivalent Shafts with Gearbox and Wheels 16 Enviornment With Gearboxes Chassis Batt. u bat i bat u bat i Con1 u bat T EM1 EM1 T EM1_ref T EM2 T R R T LS T A T B PC PC T C T D PC T GB3 T W T W v veh F Tot v veh Env. F env F brake Bra. v veh i Con2 EM2 LS T _ref F Brake_ref T EM2_ref T EM2_ref Engine Brake T LS_ref PC_ref W_ref V Veh_ref T EM1_ref T B_ref PC_ref T _ref F Brake_ref T A_ref _ref T R_ref _ref
- EMR and Inversion-based Control - 17 Battery Electric Machines Equivalent Shafts with Gearbox and Wheels Enviornment With Gearboxes Chassis Batt. u bat i Conv u bat i Con1 u bat T EM1 EM1 T EM2 T R R T LS T A T B PC PC T C T D PC T GB3 T W T W v veh F Tot v veh Env. F env F brake Bra. v veh i Con2 EM2 LS T A_ref T _ref F Brake_ref T EM2_ref T LS_ref T B_ref PC_ref W_ref v veh_ref T EM1_ref T R_ref _ref PC_ref _ref EMS
EMR 15 Lille June 2015 Summer School EMR 15 Energetic Macroscopic Representation «3. MULTI-LEVEL ENERGY MANAGEMENT»
- EMS Flow Diagram- 19 Level 1 (5 Functions) task that a system is able to perform Prop Prop+Charg Charg Charg+Brak Brak Level 2 (11 Operating Modes) routes determined by interaction of functions and energy sources E F EF FC C R RM M Level 3 (39 Power Flows) paths to achieve OMs by taking into account the architecture EM1 EM2 EM12
- Multi-level EMS - 20
- Simulation Results (Garbage Truck) - 21 v veh (km/h) (a) Vehicle Speed t (s) (e) EM1 Power P EM1 (pu) t (s) (b) Functions t (s) P EM2 (pu) (f) EM2 Power t (s) P (pu) (c) Operating Modes t (s) (g) Power t (s) (d) Power Flows t (s) P DC (pu) (h) DC Bus Power t (s)
EMR 15 Lille June 2015 Summer School EMR 15 Energetic Macroscopic Representation «4. CONCLUSION AND PERSPECTIVES»
- Conclusion - 23 The EMR proved: global capabilities to represent the complex systems ; providing complete information as its functional perspectives ; to easily deduce the local control structure of the system. ARCHYBALD Project: first study about Series-Parallel HEV ; complex control (4 Shafts for 2 State Variables) ; developed common program for 2 different applications.
- Future work - 24 verify the proposed EMS through experimentation
EMR 15 Lille June 2015 Summer School EMR 15 Energetic Macroscopic Representation «BIOGRAPHIES AND REFERENCES»
- References - 26 [Syed 09] S. A. Syed, W. Lhomme, A. Bouscayrol, Modelling comparison of planetary gear using EMR and simdriveline for hybrid electric vehicles, IEEE-VPPC 09, Dearborn (USA), Sept. 2009 [Syed 10a] S. A. Syed, W. Lhomme, A. Bouscayrol, O. Pape, G. Le Trouher, Modeling of power split, device for heavy-duty vehicles, VPPC2010, Lille (France), Sept. 2010 [Syed 10b] S. A. Syed, W. Lhomme, A. Bouscayrol, K. Chen, Operating modes and power flows explained power split devices for HEVs, CVT2010, Maastricht (The Netherlands), Nov. 2010 [Syed 11a] S. A. Syed, W. Lhomme, A. Bouscayrol, B. Vulturescu, S. Butterbach, O. Pape, B. Petitdidier, Inversion-based control of series-parallel HEV for municipal trucks, IEEE-VPPC 11, Chicago (USA), Sept. 2011 [Syed 11b] S. A. Syed, W. Lhomme, A. Bouscayrol, Modeling of power split device with clutch for heavyduty military vehicles, IEEE-VPPC 11, Chicago (USA), Sept. 2011 [Syed 12] S. A. Syed, EMR and multi-level energy management for heavy-duty hybrid vehicles using double planetary geartrain, PhD thesis, University of Lille 1 (France), June 2012
- Authors - 27 Dr. Walter LHOMME University of Lille 1, L2EP, MEGEVH, France Associate Professor since 2008 PhD in Electrical Engineering at University Lille1 (2007) Research topics: EMR, Evs and HEVs, Energy Storage Subsystem Prof. Alain BOUSCAYROL University of Lille 1, L2EP, MEGEVH, France Coordinator of MEGEVH, French network on HEVs PhD in Electrical Engineering at University of Toulouse (1995) Research topics: EMR, HIL simulation, tractions systems, EVs and HEVs Mr. Guy LE TROUHER Nexter Systems, MEGEVH, France Senior Engineer