Prof. A. Bouscayrol (University Lille1, L2EP, MEGEVH, France)

Transcription

1 Aalto Unversty Fnland May 011 «Energy Management of EVs & HEVs usng Energetc Macroscopc Representaton» «ENERGETIC MACROSCOPIC REPRESENTATION (EMR)» Prof. A. Bouscayrol (Unversty Llle1, LEP, MEGEVH, France) based on the course of Master Electrcal Engneerng & Sustanable Development Unversty Llle1 Aalto Unversty

2 - Outlne - 1. Representaton of energetc systems Representaton I/O Prncples to respect. EMR basc elements Source, accumulaton and converson elements Couplng elements 3. EMR of a complete system Acton and tunng path Assocaton rules 4. Concluson: towards control organzaton

3 Aalto Unversty Fnland May 011 «Energy Management of EVs & HEVs usng Energetc Macroscopc Representaton» 1. «Requrement for representaton of energetc systems» Aalto Unversty

4 Objectves: - Study objectves - 4 real-tme control and energy management of energetc systems (e.g. EVs & HEVs) causal models functonal descrpton causal dynamcal models & forward approach statc or quas-statc models systemc (cogntve) EMR: graphcal descrpton as valuable ntermedary step

5 - Level of study - 5 real system model objectve assumptons organzaton no assumpton predcton assumptons system model system representaton system smulaton lmted valdty range valuable propertes behavor study

6 Model objectve: control - Representaton I/O - causal & systemc organzaton predcton 6 real system dynamcal models Real-tme control & Energy management representaton Hghlght energetc and systems propertes forward approach

7 - Cogntve Systemc - or Whte box approach: pror nternal knowledge 7 Physcal laws of system components Knowledge model: out(t) = f(t) n(t) n out n out control out ref control = nverson of model: (closed loop = an nverson way)

8 - Input and output of a system - 8 Input: produced by envronment, mposed to the system for evoluton (ndependent of the system) Output: consequence of the system evoluton, mposed to ts envronment (not drectly dependant on the envronment) Input System Output Envronment & System must be defned frst! Envronment

9 - Interacton prncple - 9 Interacton prncple Each acton nduces a reacton S acton reacton S power Example Power exchanged by S1and S = acton x réacton V bat battery V bat load V bat load load battery load P=V bat load

10 - Causalty prncple - 10 Prncple of causalty physcal causalty s ntegral nput output x? cause effect t xdt OK n real-tme area knowledge of past evoluton t 1 slope mpossble n real-tme knowledge of future evoluton dx dt

11 Aalto Unversty Fnland May 011 «Energy Management of EVs & HEVs usng Energetc Macroscopc Representaton». «EMR basc elements» Aalto Unversty

12 - Energetc sources - 1 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 x y p 1 =x 1. y 1 p =x. y n 1 x y downstream source drecton of postve power (conventon)

13 - Energetc sources: examples (1) - 13 Battery Electrcal grd 1 structural descrpton V DC u 3 u 13 EMR (functonal descrpton) Bat. V DC grd u u u u 13 3 ndependent currents! 1 ndependent voltages! p=v DC p=u

14 - Energetc sources: examples () - 14 Battery (voltage source) generator and receptor of energy V DC Bat V DC ICE 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 Wnd (ar flow source) generator energy

15 - Defnton of envronment - grd lne dode rectfer 15 1 load u 3 u 13 v 13 v 3 v dc Border of the system? grd v grd lne bdrectonal system 1 Lne bdrectonal lne v rect system system 3 Rect. v DC load undrectonal

16 - Accumulaton elements - 16 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 from nput changes fxed I/O (causal descrpton)

17 - Accumulaton elements: examples (1) - 17 nductor 3-phase lne structural descrpton L, r v L 1 v L, r L u 13 u 3 1 u 3 u 13 mathematcal Model L d dt r L v 1 v d dt L rl ( u u' ) EMR (causal representaton) v 1 v u u

18 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

19 - Converson elements - 19 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)

20 - Converson element pctograms - 0 Square = electrcal converson Crcle = electromechancal converson V DC V DC u conv u conv conv m m V DC load conv load conv u conv m load Trangle = mechancal conversoncm: modulaton functon of the converter m D dutyycle

21 - 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 u e k dcm dcm T d J dt k gear gear gear k gear k gear T 1 Tgear T3

22 V DC L - I/O of converson elements - u conv m m 1 V DC V DC L 1 u conv u laod U DC or 1 u m 1 1 m conv U DC 1 u conv C load Bat V DC u conv conv. nputs Bat V DC 1 u conv 1 u laod 1 V DC u conv load m m I/O are defned by accumulaton elements

23 - Tunng nput of converson elements speed gearbox fxed gear gear T 1 T gear gear k gear k gear T 1 gear T 1 T gear T gear T 1 T gear T 1 T gear gear gear k gear k k gear 1 k, k 3, k 4,, k 5 (no tunng nput) k gear constant

24 - Couplng elements - 4 couplng elements overlapped pctograms background: orange contour: red electro mechancal couplng dstrbuton of energy electrcal couplng mechancal couplng no tunng vector v coup1 = V DC V DC 1 v coup1 Bat V DC coup 1 v coup = V DC v coup coup parallel connexon V DC coup common 1

25 - Couplng elements: examples - Feld wndng DC machne u arm arm T dcm 5 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 dff T gear T ldff lwh T rdff rwh Tldf wh T rdf rwh Tdff lwh T dff wh lwh T rdff rwh

26 - EMR man propertes - 6 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

27 Aalto Unversty Fnland May 011 «Energy Management of EVs & HEVs usng Energetc Macroscopc Representaton» 3. «EMR of a complete system» Aalto Unversty

28 upstream source - Example of an electromechancal converson system - electrcal converson electromechancal converson mechancal converson downtream source 8 S1 x 1 x x 3 x 4 x 5 x 6 x 7 y 1 y y 3 y 4 y 5 y 6 y 7 z 3 z 45 z 67 S energy storage = power adaptaton Bat. PE EM F res upstream source downtream source Conventon: drecton of postve power flow (could be negatve for bdrectonal system)

29 upstream source - Acton and reacton paths - Bdrectonal system f: bdrectonal sources bdrectonal converson elements downtream source 9 S1 x 1 x x 3 x 4 x 5 x 6 x 7 y 1 y y 3 y 4 y 5 y 6 y 7 z 3 z 45 z 67 S P > 0 acton path: (e.g. acceleraton) reacton path: x 1 x x 3 x 4 x 5 x 6 x 7 y 1 y y 7 Bat. PE EM F res P < 0 acton path: y 1 y y 7 (e.g. brakng) reacton path: x 1 x x 7 I/O ndependent of power flow drecton acton/reacton dependent of power flow drecton

30 - Tunng path - 30 upstream source downtream source S1 x 1 x x 3 x 4 x 5 x 6 x 7 y 1 y y 3 y 4 y 5 y 6 y 7 z 3 z 45 z 67 S Techncal requrements: acton on z 3 and x 7 to be controlled Tunng path: x 3 x 4 x 5 x 6 x 7 z 3 Bat. PE EM F res The tunng path s ndependent of the power flow drecton (e.g. velocty control n acceleraton AND regeneratve brakng)

31 - Tunng path () - 31 upstream source downtream source S1 x 1 x x 3 x 4 x 5 x 6 y 1 y y 3 y 4 y 5 y 6 y 7 z 3 z 45 z 67 x 7 S Techncal requrements: acton on z 45 and y 1 to be controlled Tunng path: y 1 y y 3 y 4 z 45 Bat. PE EM F res The tunng path s dependant of the techncal requrements

32 - Drect connecton - 3 x 1 x x x 3 drect connecton f: In(S1) = Out(S) Out(S1) = In (S) y 1 y OK y y 3 S1 and S any sub-systems Example L L Bat V DC V DC L L d dt L V DC u V DC L L u state varable u V DC L L Bat L u

33 - Mergng rule - y 1 x 1 y x 1 x 1 y NO x 1 y 3 accumulaton elements would mpose the same state varable x 1 33 y 1 y dt x 1 y x 1 y 3 dt Conflct of assocaton solutons y 1 dervatve x 1 dt y d dt y 3 x 1 Structural / mathematcal soluton / non physcal smplfcaton y 1 x 1 x 1 y Cartesan approach / non physcal y 1 x 1 mergng x 1 y 3 1 equvalent functon for elements / systemc

34 DC machne and smoothng nductor - Mergng rule: example - L f r f u u 34 L m r m u e u u L f d dt u u rf Lm d dt u e rm Assumpton: L f, L m constant u u Remark: u e L r f f L r m m mergng (systemc) L r f f L r Structural (Cartesan) m m L r smplfcaton f f d ( L f Lm ) u e ( rf rm ) dt L eq +L m r f +r m u e u e

35 - Permutaton rule - 35 x 1 x x 3 x 1 x x 3 y 1 y y 3 y 1 y y 3 z x x 1 x 3 z y 1 y z y 3 permutaton possble f same global behavor: strctly the same effects (y 1 and x 3 ) from the same causes (x 1,y 3 and z)

36 - Permutaton rule: example J d dt 1 T1 T J T 1 1 C 1 C 1 C 3 T k T3 k 1 1 T T 3 Shaft + gearbox varable change no assumpton strct equvalence (same model) k J d dt T 1 T ' T 1 T3 k 1 k 3 T 1 T 1 J/k T 3

37 - Interest of rules Assumptons: J 1, J constant no backslash J 1 T 1 T J T 3 T 4 to solve conflct of assocaton permutaton T 1 J 1 1 k T 3 J 1 T T 3 J 1 /k T J T 1 T 3 1 k T 3 T 4 T 4 mergng J eq T 1 T k 1 T 4 J eq J k 1 J

38 - Groupng rule - 38 gear R wh T wh gear T gear T wh v wh F tre T gear gear T wh v wh F tre T gear gear k k gear gear T wh v T wh wh R R wh wh F tre gear T gear v wh F tre v T wh gear k gear k gear R wh R wh F tre

39 - Study example: a lft - 39 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

40 - Lft example: EMR - 40 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+cw m counter weght v cage Bat V DC L L u C u C ch m u ch m m e m mergng T m F pul v cage permutaton and mergng v cage F res Env cage

41 - Lft example: tunng path - 41 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+cw 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

42 - EMR and systemc - 4 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

43 Aalto Unversty Fnland May 011 «Energy Management of EVs & HEVs usng Energetc Macroscopc Representaton» 4. «Applcaton to energy management of EVs and HEVs» Aalto Unversty

44 «Energetc Macroscopc Representaton -- (EMR)» - Whch model for EV/HEV control? - 44 Mult-physcal system Systemc approach Energy management System control Real-tme control Energetc approach Causal modelng Functonal descrpton Dynamcal modelng Causal modelng EMR s adapted for control deducton of EVs and HEVs

45 BAT - Dfferent control levels - VSI1 EM1 45 Parallel HEV Fuel ICE Trans. fast subsystem controls EM1 control ICE control Trans control slow system supervson Energy management (supervson/strategy) drver request

46 Parallel HEV - Dfferent control levels () - BAT VSI1 EM1 Fuel ICE EMR Trans. 46 fast subsystem controls EM1 control Inverson-based control ICE control (nverson of EMR) Trans control Next Step slow system supervson Energy management (supervson/strategy) drver request

47 Aalto Unversty Fnland May 011 «Energy Management of EVs & HEVs usng 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 assocaton conflct Applcatons analyss, smulaton, control structure Aalto Unversty

48 - Some references - 48 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, M. Petrzak-Davd, P. Delarue, R. Peña-Eguluz, P. E. Vdal, X. Kestelyn, Weghted control of tracton drves wth parallel-connected AC machnes, IEEE Transactons on Industral Electroncs, December 006, vol. 53, no. 6, p (common paper of LEP Llle and LEEI Toulouse). K. Chen, A. Bouscayrol, W. 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 W. 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).