VEHICLE. Dr. Walter LHOMME L2EP, University Lille1, MEGEVH network.

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1 Aalto University Finland May 2011 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «MODELLING AND EMR OF AN ELECTRIC VEHICLE» Dr. Walter LHOMME L2EP, University Lille1, MEGEVH network Prof. Alain BOUSCAYROL L2EP, University Lille1, MEGEVH network Aalto University

2 - Outline EMR of an EV with a separately-excited DCM 2. Use other electric machines Permanent Magnet DC Machine Permanent Magnet Synchronous Machine Squirrel Cage Induction Machine 3. Simulation Session: EMR of an EV with a PMDCM

3 Aalto University Finland May 2011 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «EMR OF AN EV WITH A SEPARATELY-EXCITED DC MACHINE» Dr. Walter LHOMME L2EP, University Lille1, MEGEVH network Walter.Lhomme@univ-lille1.fr Prof. Alain BOUSCAYROL L2EP, University Lille1, MEGEVH network Alain.Bouscayrol@univ-lille1.fr Aalto University

4 - Studied EV traction system - 4 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot u ch-f rwh T rdiff i ch-f battery choppers DC machine shaft Trans- wheels chassis environ. Assumptions: ideal power switches separately-excited DC machine without saturation inertia of the wheels neglected contact wheel/ground without loss no use of the mechanical brake

5 - Modelling and EMR of the battery - 5 Principally two kinds of model: energetic model dynamic model + OCV = _ R i bat OCV: Output Circuit Voltage Both parameters (OCV and R) depend of: the State Of Charge (SOC) the temperature the current level the ageing

6 - Modelling and EMR of the battery: OCV - Data sheets usually give the battery voltage versus SOC ( OCV vs SOC) for different currents 6 Curve for low current (eg. C/5 = 3 A) is close to OCV Source : Serge Pelissier (IFFSTAR), Batteries for electric and hybrid vehicles: State of the art, Modeling, Testing, Aging, Tutorial, VPPC 2010, Lille, September 2010

7 - Modelling and EMR of the battery: simulation session OCV = _ R i bat BAT i bat OCV: Output Circuit Voltage u OCV R i bat bat OCV and R are modelled by means of map with a dependency of: the State Of Charge (SOC) the temperature the use of the battery (charge or discharge)

8 i ch-a i1 i2 s 11 s 12 s 21 s 22 s 11 s 12 BAT i ch-a m ch-a - Modelling and EMR of the chopper - v 1 v 2 DCM i dcm Four-quadrant chopper: reversible in current (torque) reversible in voltage (speed) s11 s21 1 s12 s22 1 Switching functions: complementarity of switches v s u i s i 1 11 bat 1 11 dcm i cha cha bat dcm v s u i s i 2 12 bat 2 12 dcm u m u with m s s icha mcha idcm m ch-a : modulation function u v v s s u i i i s s i cha bat cha dcm 8 cha 11 12

9 - Modelling and EMR of the separately-excited DC machine - 9 gear f sh gear i ch-a T dcm J sh i tot u ch-f i ch-f Basis of the separately-excited DC motor: the field current of the stator creates a magnetic field the armature current is supplied to the rotor via brush and commutator the interaction of the magnetic field and the armature current in the rotor produces a torque T dcm the motor starts to turn and reaches the speed gear to balance the load torque and develops a back EMF

10 - Modelling and EMR of the separately-excited DC machine - Equivalent circuit 10 r a L a e dcm r a : armature resistor () L a : armature inductor (H) e dcm : motor back EMF (V) r f : field resistor () L f : field inductor (H) u ch-f r f L f edcm k f gear ki if gear Tdcm k f ia ki if ia T dcm : motor torque (Nm) f : magnetic flux k i and k : motor constants (V.s/A and V.s/Wb) Basis of the separately-excited DC motor: the field current of the stator creates a magnetic field the armature current is supplied to the rotor via brush and commutator the interaction of the magnetic field and the armature current in the rotor produces a torque T dcm the motor starts to turn and reaches the speed gear to balance the load torque and develops a back EMF

11 - Modelling and EMR of the separately-excited DC machine - Equivalent circuit 11 r a L a e dcm r a : armature resistor () L a : armature inductor (H) e dcm : motor back EMF (V) r f : field resistor () L f : field inductor (H) r f u ch-f L f edcm k f dcm ki if gear Tdcm k f ia ki if ia T dcm : motor torque (Nm) f : magnetic flux k i and k : motor constants (V.s/A and V.s/Wb) e dcm T dcm d u e r i L i dt d uchf ef rf if Lf if dt ch a dcm a a a a u ch-f gear e f

12 - Modelling and EMR of the shaft s DCM - 12 gear T dcm T dcm J sh f sh gear d dcm load sh gear sh gear gear T T f J dt f sh : viscous friction (Nm.s) J sh : moment of inertia (kg.m 2 ) gear

13 - Global EMR: part 1-13 gear f sh gear i ch-a T dcm J sh i tot i ch-f u ch-f common u i i i bat tot cha chf parallel connection choppers DC machine shaft BAT i ch-a i m a ch-a e a T dcm gear i tot u ch-f gear i ch-f i m f ch-f e f

14 - Modelling and EMR of the gearbox - 14 gear T gear diff T gear gear diff T k T gear gear kgear diff p gear gear load k gear k gear is constant for a simple gearbox Tgear diff if Tgear diff 0 gear p 1 T load gear 1 Tgear diff if Tgear diff 0 p 1 T gear load gear gear 98 % for a gear gear T gear diff

15 - The mechanical differential - 15 side gear (wheels) planet gear ring gear trans. shaft Source : HowStuffWorks, How Differentials Work,

16 diff «Modelling and EMR of an EV» - Modelling and EMR of the mechanical differential - T ldiff lwh 16 rwh T ldiff T gear T rdiff T gear T diff lwh Tldif wh T rdif rwh Tdiff 2 2 lwh diff wh T rdiff rwh T k T diff kdiff wh p diff diff diff gear k diff is a ratio of the differential

17 - Modelling of the wheels - 17 wh T diff v wh T diff F wh F wh wh v wh F T / R v / R wh diff wh wh wh wh R wh : wheel radius

18 - Modelling of the chassis - l ev 18 v v lwh rwh F Rt Rt tot F l Rt l R lwh ev ev t / 2 v / 2 v F rwh ev ev R t F env F lwh v rwh F tot R t : turning radius l ev : EV width d M v F F dt veh veh tot env F tot F rwh v ev F env v rwh R t

19 - Modelling of the environment - 19 Fenv Faero Froll Fgrade F aero 1 2 Faero air ACx vveh 2 Froll kroll M g cos( ) Fgrade M g sin( ) The slope is most of the time small sin() tan() = gradient = h/l cos() = sin() / tan() 1 M g F roll L A F tot h ENV F env

20 - Global EMR: part 2-20 gear lwh diff T ldiff T gear F env rwh T rdiff gearbox differential wheels chassis environ. T ldiff F lwh T gear T diff lwh v lwh F tot ENV gear diff wh T rdiff F rwh F env rwh v rwh R t

21 -Global EMR - 21 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot u ch-f rwh T rdiff i ch-f DC machine shaft gearbox differential wheels chassis environ. T ldiff F lwh e a T dcm gear T gear T diff lwh v lwh F tot ENV u ch-f gear gear diff wh T rdiff F rwh F env e f rwh v rwh R t

22 DC machine - EMR: permutation and merging - shaft gearbox differential wheels chassis environ. 22 permutation T ldiff F lwh e a T dcm gear T gear T diff lwh v lwh F tot ENV u ch-f gear gear diff wh T rdiff F rwh F env e f d k T T J k dt rwh p p 2 gear gear dcm gear sh gear gear gear T ldiff F lwh v rwh R t e a T dcm T eq diff T gear T diff lwh v lwh F tot ENV u ch-f gear diff T gear diff wh T rdiff F rwh F env e f permutation rwh v rwh R t

23 - EMR: permutation and merging - 23 T ldiff F lwh merging e a T dcm T gear T diff lwh v lwh F F tot ENV u ch-f gear diff wh T rdiff F rwh F tot F env e f rwh v rwh R t parallel connection choppers DC machine gearbox differential wheels chassis T ldiff F lwh BAT i tot i i ch-a a m ch-a ubat u ch-f e a T dcm gear T gear diff T diff wh lwh T rdiff v lwh F rwh F tot F env ENV i ch-f m ch-f e f rwh v rwh R t k p p gear diff eq veh sh gear diff Rwh M M J k 2

24 - EMR: simplification - T ldiff F lwh 24 BAT i tot i i ch-a a m ch-a ubat u ch-f e a T dcm gear T gear diff T diff wh lwh T rdiff v lwh F rwh F tot F env ENV i ch-f m ch-f e f rwh v rwh R t If the vehicle drives in a straight line (R t = ), an equivalent wheel is sufficient parallel connection choppers DC machine differential gearbox ratio wheels chassis combination BAT i tot i i ch-a a m ch-a ubat u ch-f e a T dcm gear T gear diff T diff wh F tot F env ENV i ch-f m ch-f e f F T / R v / R tot diff wh wh veh wh R wh : wheel radius

25 -Global EMR - 25 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot u ch-f rwh T rdiff i ch-f parallel connection choppers DC machine transmission chassis BAT i tot i i ch-a a m ch-a ubat u ch-f i ch-f m ch-f e a e f T dcm gear F tot F env ENV F p p gear diff tot gear diff diff Rwh wh k gear R k wh diff k v veh k T

26 Aalto University Finland May 2011 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «USE OTHER ELECTRIC MACHINES» Dr. Walter LHOMME L2EP, University Lille1, MEGEVH network Prof. Alain BOUSCAYROL L2EP, University Lille1, MEGEVH network Aalto University

27 - Use of a Permanent Magnet DC Machine - 27 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot u ch-f rwh T rdiff i ch-f Basis of the permanent magnet DC motor: the field windings are replaced by permanent magnets the magnetic flux is created by the permanent magnets at the stator r a L a edcm k f dcm K dcm e dcm T k i K i dcm f a a f = constant K: motor constant (V.s)

28 - Use of a Permanent Magnet DC Machine - Basis of the permanent magnet DC motor: the field windings are replaced by permanent magnets the magnetic flux is created by the permanent magnets at the stator 28 r a L a edcm k f dcm K dcm e dcm T k i K i dcm f a a f = constant K: motor constant (V.s) e dcm T dcm T gear dcm d u e r i L i dt ch a dcm a a a a d u e r i L i dt ch f f f f f f u ch-f e f gear e k i Tdcm kf if ia ef 0 dcm f f dcm

29 - Global EMR with a Permanent Magnet DC Machine - 29 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot rwh T rdiff chopper DC machine transmission chassis BAT T dcm F tot ENV i ch-a e a gear F env m ch-a

30 - Use of a Permanent Magnet Synchronous Machine - 30 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot rwh T rdiff battery inverter PMSM i sm1 s 13 s 12 s 11 u inv13 gear f sh gear J sh s 23 s 22 s 21 u inv23 T sm i inv i sm2

31 - Difference between a single-phase and a 3-phase system - 31 Generator u i i Load single-phase system: 2 cables 1 independent current 1 independent voltage 1 i 1 Generator u 12 u 23 u 31 i 2 i 3 Load u 31 v 3 v 1 N v 2 u 12 N v 1 v 2 v 3 3-phase system (without neutral): 3 cables 2 independent currents 2 independent voltages 3 u 23 phase separation of one-third cycle (2/3) i1 i2 i3 0 v1 v2 v3 0 u12 u31 u23 0 star or delta connection 2

32 u inv i inv s 11 s 21 BAT s 12 s 22 i inv s 13 s 23 s 11 s 12 s 13 m inv v 1 v 2 v 3 u inv i sm uinv13 v1 v3 s11 s13 u u v v s s inv m s s u m u u u «Modelling and EMR of an EV» - Modelling and EMR of the inverter - SM i sm1 i sm2 u inv23 u inv13 inv inv in v bat bat bat m inv 2 s12 s13 bat pinv v1 ism1 v2 ism2 v3 ism3 ism1 ism2 ism3 0 v1 v2 v3 0 pinv uinv13 ism1 uinv 23 ism2 u v v u v v inv inv i1 ism1 i i s s s i 32 inv sm2 i 3 i sm3 1 0 ism1 iinv s11 s12 s i sm2 1 1 T iinv minv ism minv1 minv 2 ism

33 battery inverter - Modelling and EMR of the PMSM - PMSM 33 i sm1 s 13 s 12 s 11 u inv13 gear f sh gear J sh s 23 s 22 s 21 u inv23 T sm i inv i sm2 Basis of the Permanent Magnet Synchronous Motor: the armature winding (stator) is excited by 3-phase AC current this supplying creates a rotating magnetic field inside the motor the rotor, equipped of permanent magnets, creates a constant magnetic field the interaction between both magnetic fields creates a torque T sm : the motor rotates the constant magnetic field is in synchronization with the rotating magnetic field

34 2s 2r v sm3 i sm3 3s i sm2 vsm2 N S 1r 3r «Modelling and EMR of an EV» p rotor - Park s model of the PMSM - 1s stator i vsm1 sm1 d, q rotating reference frame: - DC current - interaction simplification d Park s transformation xs,dq xr,dq i sq q q i sq P( d / s ) xs,123 P( d / r ) xr, 123 v sq v rq v i rq sq i sd v sd i rd v rd 1r= d rotor i sd rotor v sd rotor d/s d axis oriented on rotor axis 1r 1s 34 stator modelling simplifications: Tsm k2risq if isd 0 3-phase system axis: - difficult to control AC currents (sinusoidal) - strong interaction between phases reduced current magnitude for same produced torque

35 transformations vsdq [ K( )]urect ism [ K' ( )]isdq - EMR of the PMSM - r 35 u inv i sm vs dq is dq T sm i i sm esm is dq es dq gear Ls Stator windings in (d,q) d isdq Rs isdq vsdq e dt sdq relationships without time-dependence Tsm k2r isq e f,i,i sd,q sd sq PMSM uinv ism T sm ism esm gear

36 - Global EMR with a Permanent Magnet Synchronous Machine - i sm1 36 s 13 s 12 s 11 u inv13 gear f sh gear lwh i inv s 23 s 22 s 21 u inv23 i sm2 T sm J sh diff T gear T ldiff F env rwh T rdiff inverter PMSM transmission chassis BAT i ch-a u inv i sm i sm e sm T sm gear F tot F env ENV m inv

37 - Use of a Squirrel Cage Induction Machine - 37 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot rwh T rdiff battery inverter induction machine i im1 s 13 s 12 s 11 u inv13 gear f sh gear J sh s 23 s 22 s 21 u inv23 T im i inv i im2

38 battery inverter - Modelling and EMR of the SCIM - induction machine 38 i im1 s 13 s 12 s 11 u inv13 gear f sh gear J sh s 23 s 22 s 21 u inv23 T im i inv i im2 Basis of the Induction Motor: the armature winding (stator) is excited by 3-phase AC current this supplying creates a rotating magnetic field inside the motor the conductor of the rotor is subjected to a sweeping magnetic field, which induces rotor currents the interaction between both magnetic fields creates a torque T im : the motor rotates if the rotor is rotating at synchronous speed (i.e. frequency of the 3-phase at the stator), no currents will be induced in the rotor then no torque

39 - Park s model of the squirrel cage IM r 2s v s3 i s3 i s2 v s2 1r rotor r/s p v s1 i s1 1s stator 3s 3r xs,dq xr,dq 3-phase system axis: - difficult to control AC currents (sinusoidal) - strong interaction between phases Park s transformation q i sq P( d / s ) xs,123 P( d / r ) xr, 123 d rotor v rq v i rq sq i sd v sd i rd Modelling simplifications: v rd 1r rotor r/s d/s 1s d, q rotating reference frame: - DC current - interaction simplification r k1isd Tim k2ri stator sq

40 - EMR of the squirrel cage IM - Stator windings in (d,q) d/s u stator v s-dq i s-dq i stator u rotor =0 i s-dq e s-dq T im v r-dq i r-dq Coupling device r k1isd Tim k2ri sq 40 i rotor i r-dq e r-dq gear d/r r Park s transformations Rotor windings in (d,q)

41 - EMR of the squirrel cage IM - 41 Simplified EMR u stator i stator T im i stator e stator Squirrel cage gear permutation of windings and transformation concatenation of EM conversion and transformation inverter induction machine transmission chassis BAT i ch-a u inv i im i im e im T im gear F tot F env ENV m inv

42 Aalto University Finland May 2011 «Energy Management of EVs & HEVs using Energetic Macroscopic Representation» «SIMULATION SESSION: EMR OF AN EV WITH A PMDCM» Dr. Walter LHOMME L2EP, University Lille1, MEGEVH network Walter.Lhomme@univ-lille1.fr Prof. Alain BOUSCAYROL L2EP, University Lille1, MEGEVH network Alain.Bouscayrol@univ-lille1.fr Aalto University

43 - Simulation Session: EMR of an EV with a PMDCM - 43 gear f sh gear lwh i ch-a T dcm J sh diff T ldiff T gear F env i tot rwh T rdiff Assumptions: ideal power switches permanent magnet DC machine without saturation inertia of the DC machine shaft neglected inertia of the wheels neglected contact wheel/ground without loss ideal gearbox and differential ( gear = diff = 1) no use of the mechanical brake

44 - Simulation Session: EMR of an EV with a PMDCM - 44???? Target: Develop the EMR of the system and implement it in MATLAB by using the graphical toolbox Simulink

45 - References - [1] W. Lhomme, Ph. Delarue, Ph. Barrade, A. Bouscayrol, Maximum Control Structure of a series hybrid electric vehicle using supercapacitors, EVS'21, Monaco, April [2] W. Lhomme, P. Delarue, P. Barrade, A. Bouscayrol, Design and control of a supercapacitors storage system for traction applications, IEEE-IAS'05, Hong-Kong (China), October [3] 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 (France), November [4] A. Bouscayrol, M. Pietrzak-David, P. Delarue, R. Peña-Eguiluz, P. E. Vidal, X. Kestelyn, Weighted control of traction drives with parallel-connected AC machines, IEEE Transactions on Industrial Electronics, Vol. 53, no. 6, p , December [5] A. Bouscayrol, A. Bruyère, P. Delarue, F. Giraud, B. Lemaire-S , Y. Le Menach, W. Lhomme, F. Locment, Teaching drive control using Energetic Macroscopic Representation - initiation level, EPE'07, Aalborg (Denmark), September [6] K. Chen, P. Delarue, A. Bouscayrol, R. Trigui, Influence of control design on energetic performances of an electric vehicle, IEEE-VPPC'07, Arlington (U.S.A.), September [7] K. Chen, A. Bouscayrol, W. Lhomme, Energetic Macroscopic Representation and Inversion-based control: application to an Electric Vehicle with an electrical differential, Journal of Asian Electric Vehicles, vol. 6, no.1, p , June [8] K. Chen, A. Bouscayrol, A. Berthon, P. Delarue, D. Hissel, R. Trigui, W. Lhomme, Global energetic modelling of different architecture Hybrid Electric Vehicles, ElectrIMACS'08, Québec (Canada), May 2008.

46 - Modelling and EMR of the battery - 46 Source : Battery Management Systems, Philips Research, 2008, Volume 9, 1-9, DOI: / _1 Energy density of the hydrocarbon fuels: - gasoline and diesel oils Wh/liter

47 - Modelling and EMR of the battery: hysteresis effect - 47 The evolution of the OCV vs SOC is different according to the use of the battery (charge or discharge) OCV charge OCV mean SOC: State Of Charge OCV: Open Circuit Voltage discharge SOC(%) The hysteresis effect depends on the type of the battery: strongly for Ni-MH lightly for Li-ion Source : Thèse de Maxime Montaru, Contribution à l évaluation du vieillissement des batteries de puissance utilisées dans les véhicules hybrides selon leurs usages, Institut Polytechnique de Grenoble, juillet 2009

48 i ch-a i1 i2 BAT i ch-a s 11 s 12 s 21 s 22 s 11 s 12 i 1 i 2 «Modelling and EMR of an EV» - Modelling and EMR of the chopper - v 1 v 2 s 11 s 12 v 1 i dcm v 2 i dcm i dcm Four-quadrant chopper: reversible in current (torque) reversible in voltage (speed) Kirchhoff's current law: 48 ubat common icha i1 i2 s11 s21 1 Switching functions: s12 s22 1 v1 s11 ubat v2 s12 ubat i1 s11 idcm i2 s12 idcm Kirchhoff's voltage law: i dcm DCM common i u v v dcm cha 1 2

49 - Modelling and EMR of the chopper - 49 BAT i ch-a i 1 i 2 s 11 v 1 i dcm v 2 i dcm Kirchhoff's voltage law: i dcm DCM v s u v s u 1 11 bat 2 12 bat ucha v1 v2 u v v s s u cha bat s 12 Kirchhoff's current law: icha i1 i2 i1 s11 idcm i2 s12 idcm i i i s s i cha dcm BAT i ch-a m ch-a DCM i dcm ucha mcha ubat with m s s icha mcha idcm m ch-a : modulation function cha 11 12

50 i sm1 - Modelling and EMR of the inverter - 50 s 11 s 12 s 13 i sm2 u inv13 Kirchhoff's current law: common ubat i i i i inv i inv s 21 s 22 s 23 u inv23 i sm3 Kirchhoff's voltage law: i 1 s 11 v 1 i sm1 ism1 1 0 ism1 i sm2 0 1 ism with ism i sm2 i sm3 1 1 BAT i ch-a i 2 s 12 v 2 i sm2 v 1 u inv i sm SM u ism1 ism2 ism3 0 star or delta connection inv uinv13 v1 v3 u v v inv i 3 s 11 i sm3

51 i sm1 - Modelling and EMR of the inverter - 51 s 11 s 21 i inv s 12 s 22 s 13 s 23 i sm2 u inv23 i sm3 u inv13 u inv uinv13 v1 v3 s11 s13 u u v v s s inv m s s u m u u u inv inv in v bat bat bat m inv 2 s12 s13 bat BAT i inv m inv u inv i sm SM i1 ism1 iinv i 2 s11 s12 s 13 i sm2 i i 3 sm3 1 0 i i s s s 0 1 sm1 inv i sm2 1 1 i m i m m i T inv inv sm inv1 inv 2 sm

52 V DC ES i V DC ES : Electrical Source i «Modelling and EMR of an EV» - Base Elements of the EMR - L i L, r v 1 v 2 di dt v 1 i r i i v 2 v 1 v 2 u f V i f i s V DC DC ES i m V DC i f f f i s 52 u u i s Converter without energy accumulation Electrical converter Electromechanical conv. Mechanical conv.

53 - Base Elements of the EMR: the coupling - electrical coupling electromechanical coup. mechanical coup. 53 i 1 parallel electric circuit V DC i i 2 v 2 v 1 v1 v 2 V i i1 i2 DC ES V DC i p=v DC i v 1 i 1 v 2 i 2 action - reaction principle