«IBC AND BACKSTEPPING CONTROL OF AN ELECTRIC

Transcription

1 EMR 5 Lille June 205 Summer School EMR 5 Energetic Macroscopic Representation «IBC AND BACKSTEPPING CONTROL OF AN ELECTRIC VEHICLE» C. DEPATURE, Prof. A. BOUSCAYROL, Dr. W. LHOMME 2 Prof. L. BOULON, Prof. P. SICARD L2EP, Université Lille, MEGEVH network, 2 GREI, Université du Québec à Trois-Rivières, Canada

2 - EMR and Inversion-Based Control (2000) - 2 assumptions energetic approach inversion system model representation control Graphical tool. Energy management and real time applications. Global stability not guaranted. electromechanical thermal electrochemical piezo-electric Peugeot 3008 HY4, DW0, Ballard FC, Stimtac Standalone

3 - Backstepping : step by step iterative procedure (990) - 3 assumptions energetic approach : stability criterion system model stable control Mathematical tool. Tracking control. Non linear systems. Ensure a stable control. electromécanic robotic chaotic Linear IM autonomous vehicle Red Rover Duffing oscillator

4 - Objective - 4 Based on the Tazzari Zero Deduce a systematic and stable control structure of an EV. Real time application.

5 - Outline - 5. Control structures determination 2. Systematic and stable control structure 3. Real Time validation 4. Perspectives

6 EMR 5 Lille June 205 Summer School EMR 5 Energetic Macroscopic Representation «. CONTROL STRUCTURE DETERMINATION»

7 - EMR and Inversion-Based Control of an EV - i bus 7 Bat. T im V bus Ω gear inverter ind. machine trans. chas. V bus u θ d/s 3,23 V sdq i sdq T im F tract v ev 3 cascade loops 3 controlers to be defined 5 measurements Env. i bus i 3,23 i sdq Φ e sdq rd Ω gear v ev F res m inv i sd Φ rd-ref i sd-ref strategy driver requirements u 3,23-ref V sdq-ref i sdq-ref T im-ref v ev-ref F tract-ref

8 - Backstepping control of an EV - 8 System d i dt sdq L eq d dt. External loop control law: v ev M d dt tot rd k g pm RwLr Rr M L r sr sr i i sq sd F T d / s CK uv Kvu ond minv ubus Reqisdq esdq rd, isdq rd rd res v 2 ev non linearity 3, 4 error e Stability criterion as dv /dt 0 d dt V V e v ev v 2 M M tot e ref tot e 2 d dt ev ~ T ~ 2 ~ T d e ˆ dt energetic approach modelling error st local control law i k e M d v dt F sqref p tot evref res v tot ev M ˆ k g R w pm L r sr rd ˆ tot T M e dt

9 9 2 d local control law i sd ref k p2 R r e 2 R L r 2 r L r s rd ref ˆ 2 L r 2 Lr Rr M sr 3 rd local control law m inv u bus K K C T k R e R L si e Leq ˆ vuond uv d / s p3,4 eq 3,4 eq eq sdqref sdq, i 3, 4 rd sdq Deduced stable control structure: step, noise 3 cascade loops, 3 well defined controllers

10 EMR 5 Lille June 205 Summer School EMR 5 Energetic Macroscopic Representation «2. SYSTEMATIC AND STABLE CONTROL STRUCTURE»

11 V bus - Structure identification - i sd Φ rd-ref strategy m inv i sd-ref driver requirements u 3,23-ref V sdq-ref i sdq-ref T im-ref v ev-ref F tract-ref IB Control defines a control structure. Backstepping defines a stable control.

12 - Controllers structure : Focus on the speed loop - 2 classical IBC controler Backstepping stable controler F trac _ K M s v ev F trac _ K M s v ev v ev F res v ev F res C(t) _ s PI _ K M F trac-ref v ev-ref F trac-ref v ev-ref PI, PID, Fuzzy, PI controler form direct inversion

13 Derivative term : Real time validation «IBC and Backstepping control of an EV» - Deduced stable control structure - inverter ind. machine trans. chas. 3 DC V bus u 3,23 V sdq θ d/s i sdq T im F tract v ev Env. i bus i 3,23 i sdq Φ e sdq rd Ω gear v ev F res m inv i sd Φ rd-ref i sd-ref strategy driver requirements u 3,23-ref V sdq-ref i sdq-ref T im-ref v ev-ref F tract-ref

14 EMR 5 Lille June 205 Summer School EMR 5 Energetic Macroscopic Representation «3. REAL TIME APPLICATION»

15 - HIL Setup - 5 Hardware setup electric drive T im gear gear-ref load drive load drive control electicity & Vehicle Platform T im-est mechanical powertrain Electric drive : 20 kw IM Load drive : 20 kw SM Sampling time : 00 µs Integrator : discret Derivative : discret T im-ref dspace Control board v ev powertrain control v ev-ref

16 - Emulated vehicle velocity - Implementation using pole placement method : time response 6 ref real no delay derivative = anticipation

17 - Emulated vehicle torque - 7 Not noise-sensitive ( speed low-pass filter).

18 EMR 5 Lille June 205 Summer School EMR 5 Energetic Macroscopic Representation «4. PERSPECTIVES»

19 itot «IBC and Backstepping control of an EV» - Application on a FC vehicle - 9 Same Control structures deduced from EMR and backstepping. Real time application on the traction: robust and stable. i ch i bus i ts L fc i Lfc i ESS T im u bus u fc u ch i i im2 im gear i ch2 i Rb Lsc i Lsc u sc u ch2 R b u Rb Real time application on a Fuel Cell / Superpacitor system. Definition of stability rules : EMR control formalisation.

20 - References - 22 [] W. S. Levine, The control handbook, 2nd ed. CRC Press, 200. [2] Faa-Jeng Lin, Chih-Kai Chang, and Po-Kai Huang, FPGA-Based Adaptive Backstepping Sliding-Mode Control for Linear Induction Motor Drive, IEEE Trans. Power Electron., vol. 22, no. 4, pp , Jul [3] Jing Zhou and Changyun Wen, Backstepping Control, in Control and Mechatronics, CRC Press., pp [4] C. Dépature, P. Sicard, A. Bouscayrol, W. Lhomme, and L. Boulon, Comparison of Backstepping Control and Inversion Based Control of a Range Extender Electric Vehicle, IEEE VPPC, Coimbra (Portugal), 204. [5] A. F. Burke, «Batteries and Ultracapacitors for Electric, Hybrid, and Fuel Cell Vehicles», Procceedings of the IEEE, vol. 95, no. 4, pp , [6] Z. Q. Zhu, Y. S. Chen, and D. Howe, Online optimal flux-weakening control of permanentmagnet brushless AC drives, IEEE Trans. Ind. Appl., vol. 36, no. 6, pp , Nov [7] H. K. Khalil, Nonlinear systems, 3 rd. New Jersey : Prentice Hall, 200.

21 Bat. V bus i bus - EV Hardware-in-the-Loop Simulation - u θ 3,23 V d/s sdq i sdq T im i 3,23 i sdq Φ e sdq Ω gear rd m inv i sd ΩF gear tract v ev i L T L v ev T L-ref Env. DC. F res V L Load drive 23 Ω gear-ref F tract v ev v ev F res Env. Φ rd-ref strategy i sd-ref driver requirements u 3,23-ref V sdq-ref i sdq-ref T im-ref v ev-ref F tract-ref

22 - Reduced scale FC vehicle HIL simulation - Control structure deduced from EMR. 24 Drive cycle Power distribution

23 - Control of a causal system - 25 système causale x y x système causale y x système causale y asservisement - y ref asservissement anticipation - y ref asservissement précommande (a) (b) (c) dy ref dt - y ref loi de commande Principe de la (a) commande déduite de la REM, (b) commande par backstepping, (c) commande Feed Forward d un système causal.