Post on 28-Jul-2018
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Aalto University 2011
Aalto UniversityFinlandMay 2011
Aalto University
«« GGENERALITIES ONENERALITIES ON
EELECTRIC LECTRIC VVEHICLES (EHICLES (EVEVss) &) &
HHYBRID YBRID EELECTRIC LECTRIC VVEHICLES (EHICLES (HEVHEVss)) »»
based on MEGEVH tutorial at IEEE-VPPC 2009
http://l2ep.univ-lille1.fr/megevh.htm
Prof. A. BOUSCAYROL, Dr. R.TRIGUIL2EP, University Lille1, LTE, IFSTTAR,
MEGEVH network,Alain.Bouscayrol@univ-lille1.fr
Rocdi.Trigui@ifsttar.fr
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- Speaker & contributor -
Prof. Alain BOUSCAYROLUniversity of Lille 1, L2EP, FranceCoordinator of MEGEVH, French network on HEVsGeneral Chair of IEEE-VPPC 2010, Lille France
Dr. Rochdi TRIGUIIFSTTAR, LTE, FranceHead of the “HEV group” of IFSTTARMember of the scientific committee of MEGEVH
IFSTTAR (ex INREST & LCP) Institut français des sciences et technologies des transports, de l'aménagement et des réseaux
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- MEGEVH network -
Lille
Paris
Lyon
Toulouse
Valenciennes
Belfort
LaplaceLaplace LTE
LTN
LAMIHLAMIH
Bordeaux
Coordination:Prof.A. Bouscayrol
6 projects6 PhDs in progress4 PhDs defended
7 industrial partners10 academic Labs
(Energy management ofHybrid Electric Vehicles)
http://l2ep.univ-lille1.fr/megevh.htm
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HEV 1
MEGEVH-macro
MEGEVH-strategy
MEGEVH-optim
Theoretical level
MEGEVH-storeMEGEVH-FC
Vehicle level
HEV n
Development of methodologies of modelling and
energy management
independently ofthe kinds of vehicles
• co-supersized PhD• collaboration projects
Paper Prize Award of IEEE-VPPC’08
• 6 PhD Defended• 6 PhD in progress• EMR as common tool• generic model of HEV (Prize)
- MEGEVH philosophy -
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-- Experimental platform, and vehicles Experimental platform, and vehicles --
platform « eV »Real-time energy management
LTE
platform « propulsion »platform « storage devices »
LTE
Toyota Prius II DPE 6x6 3008 HY4
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IEEE VPPC 2010IEEE VPPC 2010September 1-3, 2010 — Lille, France
Clean Tech for TransportationClean Tech for Transportationhttp://www.vppc2010.org/
IEEE Vehicle Power and Propulsion Conferenceannual joint conference of IEEE-PELS and IEEE-VTS,
organized by MEGEVH
more than 360 registrations from 35 countries
5 Tutorials, 9 Keynotes,
167 oral presentations, 104 posters
15 exhibitors, 2 technical visits, 1 awareness forum
plus “carbon
care” action http://www.vppc2010.orgDocuments and videos available at:
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- Outline -
1.1. CCONTEXT OF ONTEXT OF EVsEVs AND AND HEVsHEVs
22. . DDIFFERENT IFFERENT KKINDS OF INDS OF EVsEVs AND AND HEVsHEVs
33. . KKEY EY IISSUES OF SSUES OF EVsEVs AND AND HEVsHEVs
RREFERENCESEFERENCES
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1. Context of 1. Context of EVsEVs & & HEVsHEVs
• Global warming• Petroleum resources• Thermal Vehicle
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- Global « Warning »! -
Source: APRI report
average air-temperature (northern hemisphere)Green House Gases
Temperature variation(℃)
by thermometer
from tree rings,coral,・・・
Average temp. in 1961~1990
industrial revolution
1000 1200 1400 1600 1800 2000Year
0.0
0.5
-0.5
-1.0
Source: IPCC Report
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0% 5% 10% 15% 20% 25%
Waste
Energy production
Residential/trade
Agricultural
Industrial Process
Transport
http://www.citepa.org/ http://www.ifen.fr/
Zero Emission Vehicles (ZEV)
for environmental concern
light vehicles 50%
- Source of Green House Gases -
2003
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km/ / dayCO2 (t)CO2 (g/km)particles (t)NOx (t)CO (t)HC (t)
http://www.inrets.fr/
- Evolution of GHG in France -
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1970 1980 1990 2000 2010 2020 2030 2040 20500
500
1000
1500
2000
2500
Gb
year
Discovery reserves
CumulativeConsumption
- Petroleum resources -
Remainingreserves
+
current forecast
2038 supply endyear
low consumption vehiclefor energy reserve concern
[Ehsani & al 2005]
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- Petroleum consumption -
http://www.manicore.com/
ASPO: Association for the Study of Peak OilAIE: International Agency of Energy
consumption
production
2015 2040
Peak Oil
Gb / day
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0
20
40
60
80
100
120
1990 1995 2000 2005 2010
$ per barrel
Price in August
- Evolution of oil prices -
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drivenwheelsclutch and
gearbox
differentialICEngine
Fuel tank
low efficiency pollution emission no energy recovery
great autonomyfast energy charge
- Thermal Vehicle -
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Iso specific consumption (g/kWh )
Pmax=60 ch (45 kW) @ 3750 rpm Tmax=119 Nm @ 3400 rpm
( 1700 cm3 )
Speed (rpm)
Torq
ue (
Nm
)
- Gasoline engine -
Efficiency map
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Pmax= 90 ch (66 kW) à 4000 rpm Tmax=214 Nm @ 1900 rpm
( 1997 cm3)
- Diesel engine -
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Example of an urban drive cycleICE Power (kW)
t (s)
http://www.inrets.fr/
Pmean= 15 kW
Pmax= 60 kW
oversizing
- Power of a thermal vehicle -
P < 0
Energy loss
Interest of a system which:• delivers peak power at high efficiency• enables energy recovery
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speed (m/s)
78% of pollutant emissions during 14 % of the cycle
Example of a highway drive cycleCO (g/s)
t (s)
- Pollution of a thermal vehicle -
P < 0
Interest of a system which:• enables transients at high efficiency and low emission http://www.inrets.fr/
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Speed (rpm)
Torque (Nm)
- Operation of an ICE -Urban drive cycle / iso-consumption map
http://www.inrets.fr/mean efficiency 12%
(88% of losses!!)
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- Operation of an ICE -Extra-urban drive cycle / iso-consumption map
Speed (rpm)
Torque (Nm)
http://www.inrets.fr/mean efficiency 20%
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- Future Vehicles? -
• Thermal vehicle with bio-fuels(coupling energy & food? water requirement? Etc)
• Electric Vehicles(production of electricity? autonomy reduction? Etc)
• Hybrid Electric Vehicles(increase of cost? need of fossil fuel? Etc)
• Fuel Cell Vehicles(increase of cost? hydrogen production? Etc)
• Etc.
but also• A more reasonable mobility!
(reduction of travels? Increase of common transport? Etc.)
No ideal and unique
solution
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2. Different kinds of 2. Different kinds of EVsEVs & & HEVsHEVs
• Electric Vehicles• Hybrid Electric Vehicles• Fuel Cell Vehicles
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neither clutchno gearbox
electricmachine
powerelectronicsBattery
drive Unit
high efficiency no local emission energy recovery
low autonomy long energy charge
- Electric vehicle -
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- Example of EV -
Long charge
High cost
limited range
Urban vehiclesFullElectricVehicle
Renault Kangoo (2001)
Range: 100 kmMaximal cruising velocity 100 km/hBattery charge: 6hTraction cost: 1€ / 100 km Synchronous machine with field winding
of 22 kWhttp://www.renault.fr
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thermalengine
fuel TM
Thermal Vehicle:- pollution- low efficiency
PE electricmachineBattery
Electric Vehicle:- long charge- low autonomy
- Thermal and Electric Vehicles -
http://www.thinkev.com/
Think city
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- Hybrid Electric Vehicles -
fuelHybrid vehicle:- advantage of each technology- higher cost- complex control
Battery PE
thermalengine
TMelectric
machine
Various configurations:• Different power ratios PICE/PEM• Different component organization
Toyota Prius 3
http://www.toyota.com/
http://www.mpsa.com
Peugeot 3008 HY4
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fuel
Battery
ICE
electricalmachine
EM
PE
- HEVs or EVs? -
http://www.renault.fr
Range extender EV= EV + ICE for
higher mileage range
fuelPlug-in HEV:= HEV + charger
+ plugBattery
ICengine
MTelectricalmachine
http://www.chevrolet.com//PE
Chevrolet Volt
Kangoo electroroad RE
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H2 PEFC electricalmachine
Fuel cell vehicle := EV with battery replaced by
a fuel cell and a H2 tank
- Fuel Cell vehicles? -
FC vehicle with hybrid storage= another kind of RE-EV
electricalmachine
Battery
H2
PE
FC
http://www.honda.com/
Honda Clarity FX
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• ICE vehicle: source for traction = fossil or bio fuel• Electric Vehicle (EV): source for traction = electricity
• Hybrid vehicle (HV): two different energy sources for traction• Hybrid Electric Vehicle (HEV): at least 1 electrical energy source
Examples:- EV (Battery + Scaps) ≠ HEV- Tramway “Mitrac” (Supply rail + Scaps) = HEV- Starter/Alternator for HEV = considered as HEV
Classical uses:- automotive application: HEV = ICE (fuel) + EM (Bat)- railway application: HEV = external + internal energy source
- HEVs definitions and uses -
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- HEV classifications -
• Architecture classification (power flow)
- series HEVs (electric power node)
- parallel HEVs (mechanical power node)
- series/parallel HEVs(electric and mechanical power node)
• Power ratio classification (thermal and electric power)
TV EVmicro HEV
mild HEV
full HEV
thermal power
electrical power
fuel
bat.wheels
fuel
bat.wheels
fuel
bat.wheels
[Chan 07] [Emadi 07]
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ICE
EM
BAT
EG
Series Parallel HEV
Fuel
- Basic Architectures -
ICE
EM
BAT
Fuel
??
ICE
EM
BAT
Fuel
EG
Series HEV electrical node
ICE
EM
BAT
Fuel
Parallel HEV
mechanical node
power flows
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- Series HEVs -
powerelectronics
Battery
drive Unit
electricgenerator
ICEngine
Fuel tank electricmachine
ZEV mode energy recoverylow efficiency low emission
high costhigh autonomy low consumption
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- Example of a series HEV -
high drive train cost
high battery size
high traction machine size
high power transportation systems
(train, truck, bus…)
Series HEV
Mistubishi Canter HEV (1996)
Delivery vehicleMaximum mass of 5.6 tonsMaximum cruising speed of 100 km/hLPG Engine (200 km autonomy)Synchronous generator (20 kW)2 induction motors of 40 kW
http://www.jari.or.jp/ja/denki/nakama/j-carmaker/mitsubisi/hev/canter.html
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powerelectronicsBattery
drive Unit
electricmachineIC
EngineFuel tank
ZEV mode
energy recovery
medium emission
low consumption
medium efficiency
high costhigh autonomy
- Parallel HEV -
control
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- Example of a Parallel HEV -
high autonomy
low consumption
high cost
few passenger carswith low hybrid rate
Parallel HEV
torqueaddition
http://www.automobiles.honda.com/
Honda Insight (1999)
2-seat vehicle (0.85 tons) ICE: 49 kW at 5700 rpmPermanent magnets
synchronous motor: 10 kWconsumption: 2.9 l/km
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Episcicloïdal power train
- Series-parallel HEVs -
electricgenerator
ICEngine
Fuel tank
powerelectronicsBattery electric
machine
same characteristics
more modes
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- Example of a series-parallel HEVs -
high autonomy
low consumption
high cost
most HEVpassenger cars
SeriesParallel
HEV
http://www.toyota.com/
Toyota Prius II (2003)
4-seat vehicle (1.2 ton) ICE: 53 kW at 4500 rpmPermanent magnets
synchronous motor: 33 kWconsumption: 3.5 l/km
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• Thermal traction
• Internal battery charge (from ICE)
• Stop and Go (electrical starter)
• Regenerative braking
• Boost (electric support)
• Electric traction (Zero Emission)
• External battery charge (Plug-in HEV)
EM
EV
more electricpower
TV
ICE
ICE EM
ICE EM
ICE EM
ICE
EM
- Operation modes -
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- Micro-Hybrid vehicles -
ICEngine
Fuel tank
powerelectronicsBattery
drive Unit
EM
Starter Alternator = parallel (torque addition) HEV with a low power electrical machine
Stop and Go mode
medium consumption
medium emissions
Low cost42V compatibility
http://www.sae.org/
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- Example of a micro-hybrid vehicle -
high autonomy
medium consumption
light cost
Intermediary stepHEVwith
starter-alternator
http://www.citroen.com/
Citroën C3 Sensodrive Stop & Start (2005)
4-seat vehicle (1.1 ton) ICE : 65 kW at 5250 rpmstarter alternator synchronous machine
with permanent magnets: 3.6 kWconsumption : 4.2 l / 100km
(gain of 10% on urban cycles)automatic gearbox
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- Power ratio classification -
TV EVmicro HEV
mild HEV
full HEV
thermal power
electrical power
Stop and Go
Boost + Energy recovery
Pure Electric Traction ZEV mode)
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City - 25%
Hyb
ridi
zatio
nfu
nctio
ns
Stop & StartRegenerative Braking
Torque AssistanceElectric Drive
FULL HYBRIDand PLUG-INs
MICRO-HYBRID
MICRO - MILD HYBRID
NEDC - 6%
- 12%-15-20%
-20-30%
Stop-Start: basis of hybridization for mass production affordable solutions
MILDHYBRID
source: VALEO (http://www.valeo.com/)
- Consumption reduction -
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ICE
VSI1 EM1
VSI2 EM2
BAT
Trans.R
C
S
Fuel
Split HEV
CarrierSun
Planetary train
Ring
[Chen 2008]
- Basic HEV powertrains -
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ICE
VSI1 EM1
VSI2 EM2
BAT
Trans.R
C
S
Fuelseries parallelHEV
ICE
VSI1 EM1
VSI2 EM2
BAT Fuel
Parallel HEV
Trans.
ICE
VSI1 EM1
VSI2 EM2
BAT
Trans.
Fuel
Series HEV
- Basic HEV powertrains -
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ICE
VSI1 EM1
VSI2 EM2
BAT Fuel
Thermal VehicleTrans.
ICE
VSI1 EM1
VSI2 EM2
BAT
Trans.
FuelElectric Vehicle (EV)
ICE
VSI1 EM1
VSI2 EM2
H2
Trans.
Fuel
Fuel-Cell Vehicle
FC
- Other powertrains -
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- Other Electric Vehicles -
New technologies are also used in various vehicles in order to reduce the ecological footprint of transportation systems!
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3. Key issues of 3. Key issues of EVsEVs & & HEVsHEVs
• Energy Storage Subsystems• Energy Management• Societal changes
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High efficiencyPower electronics
Battery Ni-MHHigh energy density
Complex control
Permanent MagnetSynchronous Machines
Power split
GeneratorBattery
Motor
Mechanical power path
Electrical power path
Engine
Inverter Boost
Véhicule PRIUS IIhttp://www.toyota.com/
ECU
Innovations fromElectrical Engineering!
- Prius, success story -
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- Well to Wheel analysis -
HEV
EV
g CO2 / km
?Coal
Coal
Natural Gas
wood
Nuclear
Wind
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- Electricity Production -
International Energy Agency 2005www.iea.org
but
Wastes andaccident!!
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SuperCaps
batteries
petrol+ thermal
engineH2
+Fuel
Cell
fly wheel
Energy density (Wh/kg)~ mileage range
Power density (W/kg)
~ acceleration,charge time
- Energy sources -
[Chan 2008]
?
hybrid storage? non-rechargeable
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- Evolution of batteries -
but
Fossil fuel
11 000 Wh/kg
in development in researchin commerce
Most promisingTechnology forEVs and HEVs
Lead acid
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Battery Energy
1-2 kWhClassical
HEV
6-12 kWhPlug-inHEV
30-40 kWhEV
SOC0 100
Charge sustaining
neverdischarged
nevercharged
0.2 – 0.6 kWh
Charge depleting
[Pélissier 2009]
- Batteries Management -
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- Energy charge -
batteries swap station for Electric Busduring the Olympic Games
Beijing 2008
New technologies and developments?but alsoA new way to manage our energy charge?
• slow charge at home / at work (4-8h?)
• ultra-fast charge at specificstation (1/2h?)
• battery swap station(5-10 min?)
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- Impact on the grid -
http://my.epri.com
V2G
G2V
New concepts for grid management?but alsoA new way to manage our energy price?
(Vehicle to Grid)
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- Complex control (example) -
BAT
ICE
VSI1 EM1
FuelParallel HEV Trans.
fast subsystemcontrols
EM1control
ICEcontrol
Transcontrol
Energy management(supervision/strategy)
driver request
slow systemsupervision
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- Energy management methods -
[Salmasi 2007]
Energy management(supervision/strategy)
driver request
Rule-based
deterministic rule-based
fuzzyrule-based
state machine / power follower/ thermostat control…
predictive / adpative /conventional…
Optimization based
global optimization
real-time optimization
Dynamic programming / stochastic DP /Game theory / Optimal control….
Robust control / Model predictive / decoupling control / l control…
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- Energy management? -
Efficient energymanagement
• Reduction of energy consumption• Reduction of local emissions• Increase of the autonomy range
An energetic modeling is required to take into account the different power flows
and the subsystem’s interactions
But more complex than for Thermal Vehicle• multi-physical devices• more power flows• various interconnected subsystems
(for model-based control)
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- Day trip Analysis -
Mileage range of a classical EV = 100 to 150 km
50%30%20%
Average values ofdaily trips inEurope in 2007
daily trip < 20 km
daily trip > 60 km
20 km < daily trip < 60 km
Possible uses of EVs?butA new way to manage our mobility?
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- Fuel Cell Vehicle? -
powerelectronics
Battery
electricgenerator
ICEngine
Fuel tank electricmachine
supercap
powerelectronics
fuelcells
hydrogen
ZEV mode
energy recovery
high efficiencyhigh autonomy
low consumption high battery lifetime
high cost low safetyhigh sizeNowadays
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- Imagine the future! -
Prototype EPF ZurichMass: 32 kgconsumption: world record 1 litre / 5 400 kmPEM Fuel cell 900 WTank to wheel efficiency: 50%2 in-wheel dc machines 150 WAerodynamics Cx: 0.075
http://www.paccar.ethz.ch/
Shell Eco Marathon• distance 25.272 km• mean speed 30 km/h
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HEVs and EVs could be valuable complementary vehicles
a limited mileage range could be…a chance…
… forward a more reasonable use of our mobility!
ConclusionConclusion
Technology will not save Automotive industry!The mobility concepts have to be changed!
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- References (1) -[Allègre 09] A. L. Allègre, A. Bouscayrol, R. Trigui, “Influence of control strategies on battery/supercapacitor Hybrid Energy Storage Systems for traction applications", IEEE-VPPC’09, Dearborn (USA), September 2009,(common paper L2EP Lille and LTE-INRETS in the framework of MEGEVH network)
[Boulon 09] L. Boulon, D. Hissel, M. C. Pera, A. Bouscayrol, O. Pape, “Energy based modeling of a 6 wheel drive hybrid heavy truck", IEEE-VPPC’09, Dearborn (USA), September 2009 (common paper FEMTO-ST, L2EP Lille and Nexter Systems in the framework of MEGEVH network)
[Bouscayrol 03] A. Bouscayrol, "Formalismes de représentation et de commande des systèmes électromécaniques multimachines multiconvertisseurs", HDR de l'Université de Lille 1, décembre 2003.
[Chan 07] C.C. Chan: "The state of the art of electric, hybrid, and fuel cell vehicles“, Proc. of the IEEE, April 2007, Vol. 95, No.4, pp. 704 - 718.
[Chan 09] C.C. Chan, Y. S. Wong, A. Bouscayrol, K. Chen, "Powering Sustainable Mobility: Roadmaps of Electric, Hybrid and Fuel Cell Vehicles", Proceedings of the IEEE, to be published in vol. 97, no. 4, April 2009, (common paper University of Hong-Kong and L2EP Lille).
[Chan 10] C. C. Chan, A. Bouscayrol, K. Chen, “Electric, Hybrid and Fuel Cell Vehicles: Architectures and Modeling", IEEE transactions on Vehicular Technology, vol. 59, no. 2, February 2010, pp. 589-598 (common paper of L2EP Lille and Honk-Kong University).
[Chen 08] K. Chen, A. Bouscayrol, A. Berthon, P. Delarue, D. Hissel, R. Trigui, “Global modeling of different vehicles, using Energetic Macroscopic Representation to focus on system functions and system energy properties”, IEEE Vehicular Technology Magazine, vol. 4, no. 2, June 2009, pp. 80-89 (common paper L2EP Lille, FEMTO-ST and LTE-INRETS according to MEGEVH project)
[Cheng 09] Y. Cheng, K. Chen, C.C. Chan, A. Bouscayrol, S. Cui, “Global modelling and control strategy simulation for a Hybrid Electric Vehicle using Electrical Variable Transmission”, IEEE Vehicular Technology Magazine, vol. 4, no. 2, June 2009, pp. 73-79 (common paper Harbin Institute of technology and L2EP Lille)
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- References (2) -
[Emadi 05] A. Emadi, K. Rajashekara, S. S. Willaimson, S.M. Lukic, “Topological overview of Hybrid Electric and Fuel Cell vehicula power systems architectures and configurations”, IEEE Trans. on Vehicular Technology, May 2005, Vol. 54, No. 3, pp. 763-770.
[Eshani 05] M. Eshani, Y. Gao, S. E. Gay, A. Emadi, "Modern electric, hybrid electric and fuel cell vehicles", CRCPress, New York, 2005.
[Lhomme 08] W. Lhomme, R. Trigui, P. Delarue, B. Jeanneret, A. Bouscayrol, F. Badin, "Switched causal modeling of transmission with clutch in hybrid electric vehicles”, IEEE Transaction on Vehicular Technology, Vol. 57, no. 4, July 2008, pp. 2081-2088, (common paper L2EP Lille, LTE-INRETS in the framework of MEGEVH network).
[Mi 09] C. Mi, “Plug-in hybrid electric vehicles - Power electronics, battery management, control, optimization, and V2G”, IEEE-ISIE’09, Seoul, July 2009.
[Salmasi 07] F. R. Salmasi, "Control strategies for Hybrid Electric Vehicles: evolution, classification, comparison and future trends", IEEE Trans. on Vehicular Technology, September 2007, Vol. 56, No. 3, pp. 2393-2404..
[Scordia 2009] J. Scordia, R. Trigui, M. Desbois-Renaudin, B. Jeanneret, F. Badin, “Global Approach for Hybrid Vehicle Optimal Control”, Journal of Asian Electric Vehicles. Volume 7, Number 1, June 2009.
[Vinot 08] E. Vinot, J. Scordia, R. Trigui, B. Jeanneret, F. Badin, “Model simulation, validation and case study of the 2004 THS of Toyota Prius”, International Journal of Vehicle System Modelling and testing, Vol. 3, No 3, pp. 139-167, 2008.