«ENERGETIC MACROSCOPIC REPRESENTATION (EMR)»

Transcription

1 EMR 17 Llle June 017 Summer School EMR 17 Energetc Macroscopc Representaton «ENERGETIC MACROSCOPIC REPRESENTATION (EMR)» Prof. Alan BOUSCAYROL 1, Prof. Phlppe BARRADE, 1 LEP, Unversté Llle1, MEGEVH network, France Unversty of Appled Scences of Son, Swtzerland thn the DL program of IEEE-VTS

2 - Outlne - 1. EMR basc elements Source, accumulaton and converson elements Couplng and adaptaton elements. Assocaton rules Permutaton rule Mergng rule. EMR of a complete system Acton and tunng path 3. Concluson

3 - Level of study - 3 model objectve organzaton predcton real system system model system representaton system smulaton lmted valdty range valuable propertes behavor study

4 - Representaton man goal - 4 The graphcal descrpton s chosen dependng on objectves real-tme control and energy management of energetc systems causal models functonal descrpton causal dynamcal models & forward approach statc or quas-statc models systemc (cogntve)

5 EMR 17 Llle June 017 Summer School EMR 17 Energetc Macroscopc Representaton 1. «EMR basc elements»

6 - The dfferent elements - 6 Only 4 energy functons are requred to descrbe energy converson systems Energy sources Energy storage Energy converson Energy dstrbuton EMR = 4 graphcal elements assocated wth the 4 energy functons

7 - Energetc sources - 7 Source oval pctogram background: lght green contour: dark green 1 nput vector (dm n) 1 output vector (dm n) termnal elements whch represent the envronment of the studed system generator and/or receptor of energy upstream source acton reacton x 1 y 1 power system n x y p 1 = x 1. y 1 p = x. y 1 x 1y 1 downstream source drecton of postve power (conventon)

8 - Energetc sources: examples - 8 Battery (voltage source) generator and receptor of energy V DC Bat V DC ICE T ce-ref T ce T ce IC engne (torque source) generator of energy I q wnd [m 3 /s] Lgthng bulb receptor of energy u u I bulb P load [Pa] p load q wnd wnd nd (ar flow source) generator energy

9 - Accumulaton elements - 9 Accumulator rectangle wth an oblque bar background: orange contour: red upstream I/O vectors (dm n) downstream I/O vectors (dm n) nternal accumulaton of energy (wth or wthout losses) causalty prncple acton x 1 y output(s) = nput(s) reacton p 1 = x 1. y y x p = x. y y f x, x ) dt ( 1 y = output, delayed wth regard to nput changes fxed I/O (causal descrpton)

10 nductor E 1 L L v 1 v v 1 - Accumulaton elements: examples - v J T 1 T T 1 T nerta 1 E J k capactor E 1 C v 1 v v C v T 1 T T T E stffness 1 1 T k

11 - Converson elements - 11 converson element varous pctograms background: orange contour: red upstream I/O vectors (dm n) downstream I/O vectors (dm p) Possble tunng nput vector (dm q) converson of energy wthout energy accumulaton (wth or wthout losses) acton / reacton x 1 y y y 1 f ( x f ( x 1,, z) z) no delay! y 1 x z p 1 = x 1. y 1 p = x. y tunng vector upstream and downstream I/O can be permuted (floatng I/O)

12 - Converson elements: examples - 1 V DC conv s s u conv u DCM gear T 1 T gear T 3 load Bat V DC conv u conv load u dcm dcm e dcm T dcm T 1 gear T gear T 3 u conv conv m m m V DC load L d dt dcm T e r dcm dcm dcm k k F F k F u e dcm dcm J T d dt k gear gear gear k gear k gear T 1 Tgear T3

13 - couplng elements - 13 couplng element varous overlapped pctograms background: orange contour: red pars of I/O vectors N pars, N-1 pctograms dstrbuton of energy wthout energy accumulaton wthout tunng (wth or wthout losses) acton / reacton x 1 y x y 1... y n f f 1 n ( x 1 ( x 1,..x,..x n n ) ) no delay! y 1 y n x n p 1 = x 1. y 1

14 - Couplng elements: examples - Feld wndng DC machne u arm arm T dcm 14 arm u arm DCM u exc T e dcm dcm k k exc exc arm arm u exc e arm exc exc exc e exc Mechancal dfferental T ldff T ldff lwh T ldf T rdf T gear T gear lwh dff rwh Ω dff Ω lwh Ω rwh dff T rdff T gear T rdff rwh

15 - EMR man propertes - 15 Energy source Energy accumulaton Energy converson (potental tunng) Energy dstrbuton hghlght energetc functons all elements are connected by acton/ reacton (power lnk) (systemc) all power I/O are defned by accumulaton elements (causalty) only converson elements can have tunng nputs valuable for control desgn

16 EMR 17 Llle June 017 Summer School EMR 17 Energetc Macroscopc Representaton 3. «Assocaton Rules»

17 Assocaton rules: conflcts of assocaton 17 Systemc: Scence for the study of systems, and ther nteracton Consderng S1 and S any knd of sub-systems The drect connecton of S1 and S s only possble f out(s1) = n(s) n(s1) = out(s) x 1 x x x 3 y 1 y OK y y 3 Example L L Bat V DC V DC L L d dt L V DC u V DC L L u state varable L u Bat V DC L L u

18 Assocaton rules: drect connecton Example: two nerta lnked by a fx rato gearbox Models J 1 T 1 T J T 3 T 4 Representaton T 1 J T T k T 3 T 3 J causal non causal causal T 4

19 Assocaton rules: conflcts of assocaton Example: two nerta lnked by a fx rato gearbox Drect connecton 1: Drect connecton : T 1 J T Use the property of a non causal element to permute nputs and outputs k T 3 T 3 J Conflct of assocaton T 4 19 T 1 J 1 1 T 1/k T 3 T 3 J 1 T Stll conflct of assocaton 1 T 4 T 1 J 1 1 T k J T 3 1 T 1 T 4

20 Reman Assocaton rules: conflcts of assocaton The property of a non causal element to permute nputs and outputs can be effcently used I/Os of a non causal element are fxed by state varables (accumulaton element), does not necessarly solve conflcts of assocatons In case conflcts of assocaton subsst Back to the model 0 wth T' = T 1 K T 1 1 1/k J T 1 /K J T 3 T 3 T 4 Conflct of assocaton accumulaton elements would mpose the same state varable x 1

21 Assocaton rules: conflcts of assocaton 1 Reman Permutaton of elements s possble f one obtan the same global behavor: strctly the same effects (y1 and x3) from the same causes (x1, y3 and z) Permutaton Rule x 1 x x 3 x 1 x x 3 y 1 y y 3 y 1 y y 3 z x 1 x x 3 z y 1 y y 3 z

22 Reman Assocaton rules: conflcts of assocaton The property of a non causal element to permute nputs and outputs can be effcently used Permutaton rule In case conflcts of assocaton subsst Back to the model wth T' = T 1 K 1/k J 1 /K +J T One has fnally merged accumulaton elements seres connected (same state varable) T 1 1 T 3

23 Assocaton rules: conflcts of assocaton 3 Reman hen accumulaton elements mpose the same state varable Conflct assocaton Soluton: Mergng rule Mergng Rule y 1 x 1 y x 1 mergng y 1 x 1 x 1 y NO x 1 y 3 x 1 y 3 1 equvalent functon for elements / systemc

24 EMR 17 Llle June 017 Summer School EMR 17 Energetc Macroscopc Representaton 3. «EMR of a complete system» Prof. Alan BOUSCAYROL, Dr. alter LHOMME (Unversty Llle1, LEP)

25 - Example: a lft - 5 supply flter chopper nductor DCM shaft pulley V DC L f, r f L C u c L s, r s u ch u m T m T pul m ch counter weght v cage Assumptons: - deal swtches - DC Machne not saturated Techncal requrement: - control of velocty v cage - tunng nput = modulaton rato of chopper m cage

26 - Lft example: EMR - 6 supply flter chopper nductor DCM shaft pulley V DC L f, r f L C u c L s, r s u ch u m T m T pul ch flter chopper DC machne pulley cage+c m counter weght v cage Bat V DC L L u C u C ch u ch m m e m T m F pul v cage v cage F res Env cage m mergng permutaton and mergng

27 - Lft example: tunng path - 7 supply flter chopper nductor DCM shaft pulley V DC L f, r f L C u c L s, r s u ch u m T m T pul ch flter chopper DC machne pulley cage+c m counter weght v cage Bat V DC L L u C u C ch m u ch m m e m T m F pul v cage v cage F res Env cage tunng path P >0 P<0

28 - EMR and systemc - 8 y 1 x 1 y x 1 x 1 y x 1 y 3 y x 1 EMR descrbes energetc functons I/O are ndependent of power flows x 1 y 3 Prorty to the functon by keepng the physcal causalty (systemc) Tunng paths: defned by the techncal requrements ndependent of the power flow drecton EMR s adapted for control desgn

29 EMR 17 Llle June 017 Summer School EMR 17 Energetc Macroscopc Representaton «Concluson» EMR = mult-physcal graphcal descrpton based on the nteracton prncple (systemc) and the causalty prncple (energy) Basc elements = energetc functon sources, accumulaton, converson and dstrbuton of energy Assocaton rules = holstc property of systemc enable keepng physcal causalty n conflct of assocaton Applcatons analyss, smulaton, control organsaton

30 - Speaker & contrbutors - 30 Prof. Alan BOUSCAYROL Unversty Llle 1, LEP, MEGEVH, France Coordnator of MEGEVH, French network on HEVs PhD n Electrcal Engneerng at Unversty of Toulouse (1995) Research topcs: EMR, HIL smulaton, tractons systems, EVs and HEVs Prof. P. Barrade Insttute for Systems Engneerng Unversty of Appled Scences estern Swtzerland PhD n Electrcal Engneerng at Unversty of Toulouse (1997) Research topcs: Power Electroncs, Energy Storage, HIL Smulaton, Hybrd Systems and other colleagues from the EMR communty

31 - Some references - A. Bouscayrol, & al. "Multmachne Multconverter System: applcaton for electromechancal drves", European Physcs Journal - Appled Physcs, vol. 10, no., May 000, pp (common paper GREEN Nancy, LEP Llle and LEEI Toulouse, accordng to the SMM project of the GDR-SDSE). A. Bouscayrol, "Formalsm of modellng and control of multmachne multconverter electromechancal systems (Texte n French), HDR report, Unversty Llle1, Scences & technologes, December 003 A. Bouscayrol, J. P. Hauter, B. Lemare-Semal, "Graphc Formalsms for the Control of Mult-Physcal Energetc Systems", Systemc Desgn Methodologes for Electrcal Energy, tome 1, Analyss, Synthess and Management, Chapter 3, ISTE lley edtons, October 01, ISBN: K. Chen, A. Bouscayrol,. Lhomme, "Energetc Macroscopc Representaton and Inverson-based control: Applcaton to an Electrc Vehcle wth an electrcal dfferental, Journal of Asan Electrc Vehcles, Vol. 6, no.1, June ssue, 008, pp P. Delarue, A. Bouscayrol, A. Tounz, X. Gullaud, G. Lancgu, Modellng, control and smulaton of an overall wnd energy converson system, Renewable Energy, July 003, vol. 8, no. 8, p (common paper LEP Llle and Jeumont SA). J. P. Hauter, P. J. Barre, "The causal orderng graph - A tool for modellng and control law synthess", Studes n Informatcs and Control Journal, vol. 13, no. 4, December 004, pp Lhomme, Energy management of hybrd electrc vehcles based on energetc macroscopc representaton, PhD Dssertaton, Unversty of Llle (text n French), November 007 (common work of LEP Llle and LTE-INRETS accordng to MEGEVH network). 31