«EMR AND CONTROL OF A SEGWAY

Transcription

1 EMR 16 UdeS - Longueuil June 2016 Summer School EMR 16 Energetic Macroscopic Representation «EMR AND CONTROL OF A SEGWAY BASED ON REVERSE ENGINEERING» Gianluca Dorian Petrucci 1, Dr. Walter Lhomme 2 1 Sapienza Uniersity of Rome, Italy 2 L2EP, Uniersity of Lille1, MEGEVH network, France - Context of the study - 2 Context: Project CUMIN at Uniersity of Lille1 to hae a Campus with 0 greenhouse gas emission to: limit the access to the polluting ehicles; use electric ehicles (VE); charge electric ehicles by renewable energies; instrument all the tested ehicles; achiee a database open to eery researcher. Different kinds of electric ehicles: electric car; electric bicycle; electric scooter; Segway 1

2 - The Segway PT: a two-wheeled inerted pendulum - 3 Segway PT (Personal Transporter) = two-wheeled inerted pendulum to transport a person Many studies to guarantee the stability of the Segway s technology: fuzzy control, neural networks state space controller PID controller BUT, to our knowledge, no studies in energetic point of iew Ealuate the characteristics of the Segway PT (range, consumption ) and their adaptability to eeryday actiities in the Campus - Outline Architecture of the Segway 2. EMR and control of the Segway 3. Simulation results 4. Conclusion 2

3 EMR 16 UdeS - Longueuil June 2016 Summer School EMR 16 Energetic Macroscopic Representation «1. ARCHITECTURE OF THE SEGWAY» - Architecture of the Segway: first idea - 6 No brakes: problem of safety What happens if 1 electric drie is faulty? The stability cannot be ensured 3

4 - Architecture of the Segway: dismantling phases elec. machine 2 inerters on the left gearbox 2 inerters on the right 6 phases elec. machine 2 batteries gearbox - Architecture of the Segway: 6 phases electric machines - 8 Two 3-phases PMSM in one Measurement of the EMF for one group of windings displacement of 120 Ph1 PH2 PH3 Measurement of 1 EMF of a winding for both groups PH3 PH3' 4

5 - Architecture of the Segway: solution - 9 Redundancy of components for safety (no brakes) - Architecture of the Segway: assumptions electric machine can be seen as 2 equialent electric machines 5

6 EMR 16 UdeS - Longueuil June 2016 Summer School EMR 16 Energetic Macroscopic Representation «2. EMR AND CONTROL OF THE SEGWAY» - EMR of the Segway - 12 batteries electric dries transmission chassis Assumption: the balancing mode (pitch) is not taken into account BAT1 BAT2 T eml1 T eml i bat1 i inl1 W gbl W gbl T u eml1-ref bat2 T eml2 i inr1 WgbL u bat2 T eml2-ref T i emr1 inl2 W T gbr u emr1-ref T T emr bat2 emr2 i bat2 i inr2 W gbr W gbr T emr2-ref F whl whl F whr whr F trac eh eh F res ROAD 6

7 - EMR and IBC of the Segway - batteries electric dries transmission chassis 13 BAT1 BAT2 i bat1 i inl1 i inr1 u bat2 u bat2 i inl2 u bat2 T eml1 T eml W gbl W gbl T eml2 WgbL T emr1 W gbr T T emr emr2 F whl whl F whr F trac eh eh F res ROAD i bat2 i inr2 W gbr W gbr whr T emr2-ref T emr1-ref Equi-distribution k Dwh = 0.5 T emr-ref F whr-ref Normal operating mode = = 0.5 T eml2-ref T eml1-ref T eml-ref F whl-ref k Dwh F trac-ref eh-ref strategy - Strategy of the windings - BAT1 BAT2 T eml1 T eml F whl i bat1 i inl1 W gbl W gbl whl u bat2 T eml2 F i eh inr1 WgbL trac T eh F res emr1 u bat2 i inl2 W gbr u T T emr bat2 emr2 F whr i bat2 i inr2 W gbr W gbr whr 14 ROAD Windings disabled 1 0 [0;1] R1 2 [0;1] 0 L1 3 1 [0;1] R2 4 [0;1] 1 L L1 and R L2 and R L1 and R L2 and R2 T emr2-ref T emr1-ref T eml2-ref T eml1-ref T emr-ref F whr-ref T eml-ref F whl-ref k Dwh F trac-ref eh-ref strategy 7

8 BAT1 BAT2 - Strategy of the windings - T eml1 T eml F whl i bat1 i inl1 W gbl W gbl whl u bat2 T eml2 F i eh inr1 WgbL trac T eh F res emr1 u bat2 i inl2 W gbr u T T emr bat2 emr2 F whr i bat2 i inr2 W gbr W gbr whr 15 ROAD Windings disabled 1 0 [0;1] R1 2 [0;1] 0 L1 3 1 [0;1] R2 4 [0;1] 1 L L1 and R L2 and R L1 and R L2 and R2 T emr2-ref T emr1-ref T eml2-ref T eml1-ref T emr-ref F whr-ref T eml-ref F whl-ref k Dwh F trac-ref eh-ref strategy - Strategy of the windings - BAT1 BAT2 T eml1 T eml F whl i bat1 i inl1 W gbl W gbl whl u bat2 T eml2 F i eh inr1 WgbL trac T eh F res emr1 u bat2 i inl2 W gbr u T T emr bat2 emr2 F whr i bat2 i inr2 W gbr W gbr whr 16 ROAD Windings disabled 1 0 [0;1] R1 2 [0;1] 0 L1 3 1 [0;1] R2 4 [0;1] 1 L L1 and R L2 and R L1 and R L2 and R2 T emr2-ref T emr1-ref T eml2-ref T eml1-ref T emr-ref F whr-ref T eml-ref F whl-ref k Dwh F trac-ref eh-ref strategy 8

9 BAT1 BAT2 - Strategy of the windings - T eml1 T eml F whl i bat1 i inl1 W gbl W gbl whl u bat2 T eml2 F i eh inr1 WgbL trac T eh F res emr1 u bat2 i inl2 W gbr u T T emr bat2 emr2 F whr i bat2 i inr2 W gbr W gbr whr 17 ROAD Windings disabled 1 0 [0;1] R1 2 [0;1] 0 L1 3 1 [0;1] R2 4 [0;1] 1 L L1 and R L2 and R L1 and R L2 and R2 T emr2-ref T emr1-ref T eml2-ref T eml1-ref T emr-ref F whr-ref T eml-ref torque F whl-ref k Dwh 1 EM F trac-ref eh-ref 2 EM strategy speed EMR 16 UdeS - Longueuil June 2016 Summer School EMR 16 Energetic Macroscopic Representation «3. SIMULATION RESULTS» 9

10 - Simulation results in fault-tolerant mode - i bat1 (A) 19 i inl1 (A) i inr1 (A) i inr2 (A) i inl2 (A) Assumption: h ed = 90% i bat2 (A) eh (km/h) - Simulation results in fault-tolerant mode - i bat1 (A) 20 i inl1 (A) i inr1 (A) i inr2 (A) i inl2 (A) Assumption: h ed = 90% i bat2 (A) eh (km/h) 10

11 - Simulation results in fault-tolerant mode - i bat1 (A) 21 i inl1 (A) i inr1 (A) i inr2 (A) i inl2 (A) Assumption: h ed = 90% i bat2 (A) eh (km/h) EMR 16 UdeS - Longueuil June 2016 Summer School EMR 16 Energetic Macroscopic Representation «4. CONCLUSION» 11

12 - Conclusion - 23 Segway PT i2 studied for the first time from energy point of iew Innoatie architecture with 2 «double» electric machines EMR helps to deduce the complex control Seeral strategies conceiable in fault-tolerant mode (or not) Perspecties Instrumentation of a real Segway for characterization (efficiency map of the electric dries, battery ) Simulation tool for different scenarios (mass, cycle ) Taken into account of the balancing mode (pitch) EMR 16 UdeS - Longueuil June 2016 Summer School EMR 16 Energetic Macroscopic Representation «BIOGRAPHIES AND REFERENCES» 12

13 - Authors - 25 Mr. Gianluca Dorian Petrucci Sapienza Uniersity of Rome, Italy Master in Electrical Engineering at Sapienza Uni. of Rome (2016) Research topics: EMR, Segway Dr. Walter LHOMME Uniersity Lille 1, L2EP, MEGEVH, France PhD in Electrical Engineering at Uniersity of Lille1 (2007) Research topics: EMR, HIL simulation, EVs and HEVs, Energy Storage Subsystem, Traction subsystems, - References - 26 [1] The Segway Personal Transporter (PT), website of Segway, consulted in March 2016, [2] EMR website, [3] A. Bouscayrol, J. P. Hautier, B. Lemaire-S , Graphic formalisms for the control of multiphysical energetic systems, Systemic design methodologies for electrical engineering, ol. 1, chapter 3, October 2012 [4] J. D. Heinzmann, J. B. Morrell, G. B. Yun, Motor amplifier and controller for a personal transporter, United States Patent, no B1, September 2001 [5] T. Letroue, A. Bouscayrol,W. Lhomme, N. Dollinger, F. M. Calairac, Different models of a traction drie for an electric ehicle simulation, IEEE-VPPC 10, Lille (France), Sept [6] C. Hottois, C. Lecoeure, B. Paé, Energetic study of a Segway, Master thesis of the Uniersity of Lille 1, May 2015 [7] G. D. Petrucci, W. Lhomme, I. Dekik, F. G. Capponi, Energy management of a Segway PT i2 using Energetic Macroscopic Representation, IEEE-VPPC 2016, Hangzhou (China), Oct

14 i con u bat - EMR of the equialent electric dries - EM T em u bat W sh conerter electric machine u con i em T em 27 s con u bat-mea control T em-ref W sh-mea i con T u em bat W h sh k ed i con i em s con_ref e em W sh u con_ref i em_ref T em_ref T em (Nm) torque u bat T em i con W sh speed W sh (rpm) T em-ref 14