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EMR’12MadridJune 2012
Joint Summer School EMR’12“Energetic Macroscopic Representation”
EMR AEMR ANDND IINVERSIONNVERSION--BBASEDASED CCONTROLONTROL FFOROR
HIL SHIL SIMULATIONIMULATION OFOF A DA DOUBLEOUBLE PPARALLELARALLEL HEVHEVTony LETROUVE
L2EP, University Lille1, PSA Peugeot Citroën, MEGEVH networkTony.letrouve@mpsa.com
Walter LHOMME, Alain BOUSCAYROL L2EP, University Lille1, MEGEVH network
Nicolas DOLLINGER, Fabien MERCIER CALVAIRACPSA Peugeot Citroën
EMR’12, Madrid, June 20122
EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- Outline -
1. Context et objectives
2. HIL Simulations2. HIL Simulations
3. Conclusion & perspectives
EMR’12MadridJune 2012
Joint Summer School EMR’12“Energetic Macroscopic Representation”
CCONTEXT ONTEXT AAND ND OOBJECTIVESBJECTIVESCCONTEXT ONTEXT AAND ND OOBJECTIVESBJECTIVES
•• PhD thesis objectivesPhD thesis objectives•• Relevant definitionsRelevant definitions•• Industrial and scientific contextsIndustrial and scientific contexts
EMR’12, Madrid, June 20124
EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- Context and Objectives -
Thesis title :Methodology of energy managment and Real time applicat ion for HEV Using EMR
T. Letrouvé
DRD/DRIA/TASE/CO2E
Control and Optimisation of Energy and Emission
Supervisors L2EP : A. Bouscayrol, W. Lhomme Supervisors PSA : N. Dollinger, F. Mercier Calvairac
Laboratory of Electrical Engineering and Power Electronics
GEE/ Control team
Scientific issues:Innovative approach of a systematic control from simulation to prototype,Coupling between functional and structural approaches,Systematic strategy.
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
Σ
Modelling 1Assumption 1
Description 11
Description 12
Sim. Soft. 121
Sim. Soft. 122
Sim. Soft. 123
Sim. Soft. 211
- Definitions -
Modelling 2Assumption 2 Description 21
Description 22
Sim. Soft. 212
Sim. Soft. 213
ModellingMathematical description of the system behaviour defined according to assumptions associated to objectives (static / dynamic model, causal or not …)DescriptionModel organization which permits to highlight some system properties. No assumption between model and description. (State description, BondGraph, EMR, …)Simulation softwareComputer organization of a description which permit to simulate the system behaviour.(C language, Range Kuttamethod, …)
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
Modelling
Simulation
Control 1
Modelling
Simulation
ControlDescription
Professional approach for the control elaboration of a hybrid electric vehicle
L2EP/MEGEVH approach for the control elaboration of a hybrid electric vehicle
- Problematic and Objectives -
Prototype Prototype
Emulation
LV Load
ICE
Rear Electric machine
CltchBattery HV
GB
Front Electric machine
LV Battery
Industrial objective : Use a description tool like EMR to structure the control from simulation to prototype.
Control 2
EMR’12MadridJune 2012
Joint Summer School EMR’12“Energetic Macroscopic Representation”
HIL SHIL SIMULATIONIMULATIONHIL SHIL SIMULATIONIMULATION
•• EMR and IBC of the studied vehicleEMR and IBC of the studied vehicle•• Emulations doneEmulations done•• Emulation resultsEmulation results
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
Bat HV Bat LV
ICETice
Fres
vvéh
Env.Fbrakes
Sources
Non linear conversion elements
Strategy
kboîte
Stator
Front EM
TFEM
TREM
Rear EM
GB Rear Trans.
GBFront Trans.
Pcltch
Pdogbox
Dogbox
clutchP B
- EMR of the studied System -
Bat HV Bat LVCoupling elements
Conversion elements
1
2
3
4
5
Drivers actions
Load BT
ICE
Rear Electric machine
CltchHVBattery
GB
Front Electric machine
LV Battery
Stator
TdemDC/ DC
mDC/DC
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- Inversion based control of the studied system -
SE
mond1
REM
SMFres
vvéhEnv.
kboîte
SM
Brakes
F
pemb
mond2
FEM
Cmth-ref
SM
ICECmth
pcrabot
F frein-refSE Vbat-BT
mhachDC/DC
MCCdem
SE
kdem kdem
Vbat-BT-ref
ibat-BT-ref
Objective: Control the current in the low voltage batteryTuning variable: mDC/DC
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
F
mond2
SE
mond1
REM
SMFres
vvéhEnv.
kboîte
SM
Brakes
F
pemb
FEM
Cmth-ref
SM
ICECmth
pcrabot
- Inversion based control of the studied system -
Objective: Control the vehicle speedTuning variables: Tmth_ref,mond2,mond1,Fbrakes_ref
F frein-ref
vref
Krep-ar G/D
Krep frein
Krep-av G/D
Krep av/ar
Bloqué
Ouvert
vvéh-ref
Ωarbre-ref
Bloqué
Patinage
Ωarbre-ref
Krep-av Mth/mel-av
Vbat-BT-ref
STRATEGY
ibat-BT-ref
F frein-refSE Vbat-BT
mhachDC/DC
MCCdem
SE
kdem kdem
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
• What is a power Hardware-In-the-Loop simulation?
- What is a PHIL Simulation? -
Sub-system 1 models
Sources models
Load Models
Sub-system 2 models
IS
Simulation environment
Control signals
measures
ReferencesControl algorithm
A. Bouscayrol, “Hardware-In-the-Loop simulation”, Industrial Electronics Handbook, second edition, tome 3, Chapter M35, Editions Taylor & Francis, Chicago
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
• Example of a EV Power HILs
- Example of a PHIL Simulation -
Interface system
BatteryElectric machine
Electric machine Network
Source
Electric machine 1
ECU
Control Signals
Energy source
References
measures
Control algorithm
Emulated subsystem
Emulated load
Emulation source
Electric machine 2
Control of the EM
Interface system
Testedsubsystem
Objectives of a reduced scale HILs•validate the real time portability of the control done in simulation,•validate indirectly models used in simulation,•test the fault tolerance of the system,•precise the requirements.
Objectives of a full scale HILs•validate directly models used in simulation,•take into account all the limitation and component constraints.
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
RearEM
Front EM
- HIL simulation -
Load2,2 kW
Supercaps
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
Bat HV
Front EM
TFEM-ref
TREM-ref
Rear EM
Tice-ref
vveh
Ftot
Env.
GBRear
Trans.Pdogbox
Dogbox
Emul. R+Ice
Emul. Fr
Net.Scap
Plateforme HIL
Bat HV
Load 2,2 kW
ICEkboîte
GBFront Trans.
clutchP BPcltch
StrategyControl and emulated part
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
Front EM
TFEM-ref
TREM-ref
Rear EM
ICETice-ref
Emul. R+Ice
Emul. Fr
Net.Scap
Plateforme HIL
StrategyControl and emulated part
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- Validation of the battery emulation -
0 50 100 150 2000
500
1000Vitesse de rotation de l'arbre des machines [trs/min]
227
227.5
228Tesion de la batterie de reference et réponse du système
Ubat
émulée
U réferenceU (V) U Ubus - measure
NDCM-mea (rpm)
Peugeot Ion
Battery emulation
Electric machine
Chassis emulation
0 50 100 150 200
227
Ubat
réference
0 50 100 150 200-10
0
10Courant de la machine de traction (DC)
0 2 0 4 0 6 0 8 0 1 0 0 1 2 0 1 4 0 1 6 0 1 8 0 2 0 00 . 7
0 . 7 5
0 . 8E m u la te d S O C o f t h e b a t te r y
Ubus (V)
I sc-mea (A)
Ubus - emulated
SOC-emul (%)
Peugeot Ion
EMR’12, Madrid, June 201217
EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
Emulated HV battery
Power electronicsand control
RearElectric machine
RearPowertrain
Front Electric machine Front P.train
+ ICE
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- Real time interface developed -
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV- Simulation results -
vhev-ref
PcltchOpen
close
Nrem-mes
N
Trem-ref ICE Battery
FEM
Clutch
Nfem-mes
Tfem-ref
Operating mode
REM
BatteryHV
DogBox
SoC_min_drive
SoC_min_stop
SoC
EMR’12MadridJune 2012
Joint Summer School EMR’12“Energetic Macroscopic Representation”
Conclusion & PerspectivesConclusion & PerspectivesConclusion & PerspectivesConclusion & Perspectives
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- Conclusion -
Development of EMR and Inversion Based controlofthe HYbrid 4 architecture
Validation, using a reduced scale HIL simulation, delaof the real time portability of the control and strategydone in simulation.
Modélisation
CommandeReprésentation
Modification et optimization of the strategy
Use a full scale HIL simulation:Take into account component limitation andconstraintsDirect validation of models used in simulation
Use this deduced control in the real prototype
Simulation
Prototype
Emulation
Perspectives
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EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
PERSPECTIVES
Prototype
Caractéristics:ICE : DV6TED4Rear EM : PARVEX 20kWBattery : Li ion 10MJ
PTMU 1 IBC
EMR’12MadridJune 2012
Joint Summer School EMR’12“Energetic Macroscopic Representation”
BB IOGRAPHIES IOGRAPHIES AND AND RREFERENCESEFERENCESBB IOGRAPHIES IOGRAPHIES AND AND RREFERENCESEFERENCES
EMR’12, Madrid, June 201224
EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- Authors -
Tony LETROUVEUniversity Lille 1, L2EP, PSA Peugeot Citroën MEGEVHPhD student at University Lille 1 science and technology (since 2009)Research topics: EMR, HIL simulation, Prototyping on HEV.
Prof. Alain BOUSCAYROLUniversity Lille 1, L2EP, MEGEVH, FranceUniversity Lille 1, L2EP, MEGEVH, FranceCoordinator of MEGEVH, French network on HEVsPhD in Electrical Engineering at University of Toulouse (1995)Research topics: EMR, HIL simulation, tractions systems, EVs and HEVs
Dr. Walter LHOMMEUniversity Lille 1, L2EP, MEGEVH, FranceAssociate professor in University Lille 1 science and technologyPhD in Electrical Engineering at University of Lille 1 (2007)
Dr. Nicolas DOLLINGER, Fabien MERCIER CALVAIRACPSA Peugeot Citroën France, France
EMR’12, Madrid, June 201225
EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV
- References -
[Letrouvé 09a] T. Letrouvé; P. Delarue; A. Bouscayrol, “Modelling and control of a double parallel hybridelectric vehicle using Energetic Macroscopic Representation”, Electromotion’09 , Lille, France, July2009.
[Letrouvé 09b] T. Letrouvé; A. Bouscayrol; W. Lhomme, “Influence of the clutch model in a simulation of aparallel Hybrid Electric Vehicle”, IEEE VPPC’09, Dearborn, USA, September 2009.
[Letrouvé 10] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Different modelsof a traction drive for an electric vehicle simulation”, IEEE VPPC’10, Lille, France, September 2010.
[Bouscayrol 11] A. Bouscayrol, P. Barrade, L. Boulon, K. Chen, Y. Cheng, P. Delarue, B. Lemaire-Semail,T. Letrouve, W. Lhomme, P. Sicard, “Teaching drive control using Energetic MacroscopicT. Letrouve, W. Lhomme, P. Sicard, “Teaching drive control using Energetic MacroscopicRepresentation – Summer schools”, EPE 2011, Birmingham, United Kingdom, August 2011
[Letrouvé 11] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Inversion BasedControl of a double parallel Hybrid Electric Vehicle: Validation in a structural software”, IEEE VPPC’11,Chicago, USA, September 2011.
[Letrouvé 12] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Reduced-scaleHardware-In-the-Loop Simulation of a Peugeot 3∞8 HYbrid4 vehicle”, IEEE VPPC’12, Seoul, Korea,October 2012.
http://emr.univ-lille1.fr/3008 HY4 3008 HY4