«ENERGETIC MACROSCOPIC REPRESENTATION (EMR)»

Transcription

1 EMR 15 Llle June 2015 Summer School EMR 15 Energetc Macroscopc Representaton «ENERGETIC MACROSCOPIC REPRESENTATION (EMR)» Prof. Loïc BOULON, Prof. Alan BOUSCAYROL, (Unversté du Québec à Tros Rvères, IRH, Canada, Unversté Llle1, L2EP, France) based on the course of Master Electrcal Engneerng & Sustanable Development Unversté Llle1

2 - Outlne EMR basc elements Source, accumulaton and converson elements Couplng and adaptaton elements 2. EMR of a complete system Acton and tunng path Assocaton rules 3. Concluson: towards control organzaton

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 Model objectve: control - Representaton I/O - causal & systemc organzaton predcton 4 real system dynamcal models Real-tme control & Energy management representaton Hghlght energetc and systems propertes forward approach

5 EMR 15 Llle June 2015 Summer School EMR 15 Energetc Macroscopc Representaton 1. «EMR basc elements»

6 - The dfferent elements - 6 Energy sources An energetc system: Energy storage elements Energy converson elements Energy dstrbuton elements Key elements are: energy storage element (delay, state varable, closed-loop control) energy dstrbuton element (power flow couplng, control wth crtera)

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 2 y 2 p 1 = x 1. y 1 p 2 = x 2. y 2 1 x 1y 1 downstream source drecton of postve power (conventon)

8 - Energetc sources: examples (2) - 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 - Defnton of envronment - grd lne dode rectfer 9 1 load u 13 2 v 13 v dc Border of the system? u 23 v 23 grd v grd lne bdrectonal system 1 Lne bdrectonal lne v rect system 2 system 3 Rect. v DC load undrectonal

10 - Accumulaton elements - 10 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 2 p 2 = x 2. y y f x, x ) dt ( 1 2 y = output, delayed wth regard to nput changes fxed I/O (causal descrpton)

11 - Accumulaton elements: examples (2) - J L v 1 v 2 T 1 T 2 nductor nerta v E L E J 2 2 v 2 T 1 T k 2 capactor E 1 2 C v 2 1 v v C v 2 T 1 T T 2 T E stffness T k 2

12 - Converson elements - 12 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 2 y y 2 1 f ( x f ( x 1 2,, z) z) no delay! y 1 x 2 z p 1 = x 1. y 1 p 2 = x 2. y 2 tunng vector upstream and downstream I/O can be permuted (floatng I/O)

13 - Converson element pctograms - Square = electrcal converson 13 Crcle = electromechancal converson Trangle = mechancal converson For multphyscal systems Square = monophyscal converson Crcle = multphyscal converson

14 - Converson elements: examples - 14 V DC conv s s u conv u DCM gear T 1 2 T gear 2 T 3 load Bat V DC conv u conv load u dcm dcm e dcm T dcm T 1 gear T gear 2 2 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 gear k gear gear k gear k gear T Tgear T3

15 - couplng elements - 15 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 2 x 2 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

16 - Couplng elements - 16 couplng elements overlapped pctograms background: orange contour: red electro mechancal couplng dstrbuton of energy electrcal couplng mechancal couplng couplng elements overlapped pctograms background: orange contour: red multphyscal couplng Monophyscal couplng

17 - Couplng elements: examples - Feld wndng DC machne u arm arm T dcm 17 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 2 T gear lwh dff rwh Ω dff Ω lwh Ω 2 rwh dff T rdff T gear T rdff rwh

18 - EMR man propertes - 18 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

19 EMR 15 Llle June 2015 Summer School EMR 15 Energetc Macroscopc Representaton 3. «EMR of a complete system» Prof. Alan BOUSCAYROL, Dr. alter LHOMME (Unversty Llle1, L2EP)

20 upstream source - Example of an electromechancal converson system - electrcal converson electromechancal converson mechancal converson 20 downtream source x 1 x 2 x 3 x 4 x 5 x 6 x 7 S1 S2 y 1 y 2 y 3 y 4 y 5 y 6 y 7 z 23 z 45 z 67 energy storage = power adaptaton Bat. PE EM F res upstream source downstream source Conventon: drecton of postve power flow (could be negatve for bdrectonal system)

21 upstream source - Acton and reacton paths - Bdrectonal system f: bdrectonal sources bdrectonal converson elements 21 downtream source S1 x 1 x 2 x 3 x 4 x 5 x 6 x 7 y 1 y 2 y 3 y 4 y 5 y 6 y 7 z 23 z 45 z 67 S2 P > 0 acton path: (e.g. acceleraton) reacton path: x 1 x 2 x 3 x 4 x 5 x 6 x 7 y 1 y 2 y 7 Bat. PE EM F res P < 0 acton path: y 1 y 2 y 7 (e.g. brakng) reacton path: x 1 x 2 x 7 I/O ndependent of power flow drecton acton/reacton dependent of power flow drecton

22 - Tunng path - 22 upstream source downtream source x 1 x 2 x 3 x 4 x 5 x 6 x 7 S1 S2 y 1 y 2 y 3 y 4 y 5 y 6 y 7 z 23 z 45 z 67 Techncal requrements: acton on z 23 and x 7 to be controlled Tunng path: x 3 x 4 x 5 x 6 x 7 z 23 Bat. PE EM F res The tunng path s ndependent of the power flow drecton (e.g. velocty control n acceleraton AND regeneratve brakng)

23 - Assocaton rules: drect connecton - 23 x 1 x 2 x 2 x 3 drect connecton f: Out(S1) = In (S2) In(S1) = Out(S2) y 1 y 2 OK y 2 y 3 S1 and S2 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 L u Bat V DC L u L

24 - Assocaton rules: mergng rule - 24 y 1 x 1 y 2 x 1 x 1 y 2 NO x 1 y 3 2 accumulaton elements would mpose the same state varable x 1 Conflct of assocaton mergng y 1 x 1 x 1 y 3 1 equvalent functon for 2 elements / systemc

25 - Assocaton rules: permutaton rule - 25 x 1 x 2 x 3 x 1 x 2 x 3 y 1 y 2 y 3 y 1 y 2 y 3 z x 1 x 2 x 3 z y 1 y 2 y 3 z 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)

26 - Interest of rules Assumptons: J 1, J 2 constant no backslash T 1 J 1 T 2 T 3 2 J 2 2 T 4 to solve conflct of assocaton T 1 J 1 1 k 2 T 3 J T 2 T 3 2 T 4 permutaton J 1 /k T T k 2 T 3 2 T 3 J 2 2 T 4 mergng T 1 1 k T 2 2 J eq 2 T 4 J eq J k 1 2 J 2

27 - Example: a lft - 27 supply flter chopper nductor DCM shaft pulley L f, r f L L s, r s T m T pul V DC C u c u ch u m 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

28 - Lft example: EMR - 28 supply flter chopper nductor DCM shaft pulley L f, r f L L s, r s T m T pul V DC C u c u ch u m 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 mergng T m F pul v cage permutaton and mergng v cage F res Env cage

29 - Lft example: tunng path - 29 supply flter chopper nductor DCM shaft pulley L f, r f L L s, r s T m T pul V DC C u c u ch u m ch flter chopper DC machne pulley cage+c m counter weght v cage Bat V DC L tunng path L u C u C ch up m u ch m m e m down T m F pul v cage v cage F res Env cage

30 - EMR and systemc - 30 y 1 x 1 y 2 x 1 x 1 y 2 x 1 y 3 y 2 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

31 EMR 15 Llle June 2015 Summer School EMR 15 Energetc «Concluson Macroscopc Representaton» 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

32 - Some references - A. Bouscayrol, & al. "Multmachne Multconverter System: applcaton for electromechancal drves", European Physcs Journal - Appled Physcs, vol. 10, no. 2, May 2000, pp (common paper GREEN Nancy, L2EP 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 2003 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 2012, 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, 2008, 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 2003, vol. 28, no. 8, p (common paper L2EP 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 2004, pp Lhomme, Energy management of hybrd electrc vehcles based on energetc macroscopc representaton, PhD Dssertaton, Unversty of Llle (text n French), November 2007 (common work of L2EP Llle and LTE-INRETS accordng to MEGEVH network). 33