A. Bouscayrol, K. Chen, D. Hissel, R. Trigui. (L2EP Univ. Lille1, FEMTO-ST Univ. Franche-Comté, LTE-IFSTTAR)

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1 Aalto University 2011 http://l2ep.univ-lille1.fr/megevh.htm RHEVE, Rueil Malmaison December 2011

RHEVE

2011

«

E

NERGETIC

M

ACROSCOPIC

R

EPRESENTATION AND

C

OMMON

C

ONTROL

S

CHEME

OF

D

IFFERENT

H

YBRID

E

LECTRIC

V

EHICLES »

A. Bouscayrol, K. Chen, D. Hissel, R. Trigui

(L2EP Univ. Lille1, FEMTO-ST Univ. Franche-Comté,

LTE-IFSTTAR)

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2 RHEVE 2011

Outline

-1. MEGEVH and EMR

• French network on HEVs

• Energetic Macroscopic Representation

2. Common EMR of different HEVs

• EMR of a series-parallel HEV • EMR of other HEVs

3. Common control scheme of different HEVs

• Control of series-parallel HEV • Control of other HEVs

4. Validation of the common control scheme

• Toyota Prius simulation

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RHEVE

2011

1. MEGEVH

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4 RHEVE 2011

MEGEVH network

-Lille Paris Lyon Toulouse Valenciennes Belfort Laplace LTN LAMIH Bordeaux Coordination: Prof. A. Bouscayrol 6 projects 7 PhDs in progress 6 PhDs defended 7 industrial partners 10 academic Labs (Energy management of Hybrid Electric Vehicles)

http://l2ep.univ-lille1.fr/megevh.htm

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5 MEGEVH RHEVE 2011

HEV 1

MEGEVH-macro MEGEVH-strategy MEGEVH-optim Theoretical level MEGEVH-ESS MEGEVH-FC Vehicle level

HEV n

Development of methodologies of modelling and energy management independently of the kinds of vehicles

• co-supervised PhD • collaborative projects

Paper Prize Award of IEEE-VPPC’08

• 7 PhD Defended • 6 PhD in progress • EMR as common tool

• generic model of HEV (Prize)

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-6 RHEVE 2011

Experimental plateforms, and vehicles

-plate-form « eV »

Real-time energy management

LTE plate-form « propulsion » plate-form

« storage devices »

LTE

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7 MEGEVH RHEVE 2011

i

output = inputs

causality principle

accumulation of energy

energy distribution

u

action - reaction

principle

i

p=u.i

DCM₁ DCM₂ PE₁ PE₂ Bat. _F res EM₁ EM₂

Sources: generator or

receptor of energy

electromechanical

conversion

electrical

conversion

mechanical

conversion

Bat. Env.

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-8 RHEVE 2011 Bat. Env.

v

Inversionbased control

-v

_ref

closed-loop

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RHEVE

2011

2. C

OMMON

EMR

OF

D

IFFRENT

HEVs

Funding of Regions “Nord-Pas-de-Calais”, “Franche-Comté” & EU (FEDER) within MEGEVH-macro project

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10 RHEVE 2011 ICE VSI1 EM1 VSI2 EM2 BAT Trans. R C S Fuel series parallel HEV

Carrier

Sun

Planetary train

Ring

[Chen 2008]

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-11 MEGEVH RHEVE 2011 ICE VSI1 EM1 VSI2 EM2 BAT Trans. R C S Fuel series parallel HEV ICE VSI1 EM1 VSI2 EM2 BAT Fuel Parallel HEV Trans. ICE VSI1 EM1 VSI2 EM2 BAT Trans. Fuel Series HEV

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-12 RHEVE 2011

EMR of a seriesparallel HEV

-EM 1 EM 2 ICE _Brake Env. ICE EM1 EM2 Trans. R C S brake T_em1ref T_em2ref T_ice-ref F_Bref v_hev F_res T_em1 T_em2 T_ice v_hev v_hev F_B F_T k₂T_tm W_em1 W_em2 W_ice [W_iceW_em1 ] _W tm T_em2 T_em2 [T₁T₂ ] W_em1 W_em1 Wem1 T_tm -k₁T_tm W_ice W_ice W_ice T_t2 T₂ T₂₁ T₁ T₁ Assumptions:

no curve, no slip, global brake, etc.

2 state variables:

W_em1 = k v_hevand W_ice

[ 

_                    ice f dt d J T T _em ice em W W W W ₁ ₁ 2 1

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13

MEGEVH

RHEVE 2011

Models of other HEVs

-EM 1 EM 2 ICE _Brake Env. T_em1ref T_em2ref T_ice-ref F_Bref v_hev F_res T_em1 T_em2 T_ice v_hev v_hev F_B F_T k₂T_tm W_em1 W_em2 W_ice [W_iceW_em1 ] _W tm T_em2 T_em2 [T₁T₂ ] W_em1 W_em1 Wem1 T_tm -k₁T_tm W_ice W_ice W_ice T_t2 T₂ T₂₁ T₁ T₁ Series-Parallel HEVs Series HEVs Parallel HEVs 0 and 0 , 0 , 1 ₂ 1  k  kR  kS  k , , 0 1 ₂ 1  k  k k_R  0and k_S  0 , , 1 0 ₂ 1  k  k k_R  0and k_S  0

same model but different parameters

Specific parameters have been defined:

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14 RHEVE 2011

Example of a parallel HEV

-EM 1 EM 2 ICE _Brake Env. T_em1ref T_ice-ref F_Bref v_hev F_res T_em1 T_ice _F B W_em1 W_ice [W_iceW_em1 ] [T₁T₂ ] ICE EM1 EM2 Trans. S brake no EM2 k₁=0 k₂=1 k_R=0 k_S=0 grey part not activated

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RHEVE

2011

3. C

OMMON

C

ONTROL

S

CHEME

OF

D

IFFERENT

HEVs

Funding of Regions “Nord-Pas-de-Calais”, “Franche-Comté” & EU (FEDER) within MEGEVH-strategy project

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16 RHEVE 2011

Analysis of a seriesparallel HEV

-EM 1 EM 2 ICE _Brake Env. T_em1ref T_em2ref T_ice-ref F_Bref v_hev F_res T_em1 T_em2 T_ice v_hev v_hev F_B F_T k₂T_tm W_em1 W_em2 W_ice [W_iceW_em1 ] _W tm T_em2 T_em2 [T₁T₂ ] W_em1 W_em1 Wem1 T_tm -k₁T_tm W_ice W_ice W_ice T_t2 T₂ T₂₁ T₁

4 tuning variables: T_em1ref, T_em2ref, F_Bref, T_ice-ref

1 objective: v_hev(proportional to W_em1) 2 constraints: W_ice and T_ice

(proportional to fuel consumption)

How to organize the the control scheme?

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17

MEGEVH

RHEVE 2011

Tuning paths of a seriesparallel HEV

-T_em1ref T_em2ref T_ice-ref F_Bref T_em1 T_em2 T_ice F_B F_T [W_iceW_em1 ] [T1 T2 ] Ttm T₂ T₂₁ T₁ 1 objective: W_em1

2 constraints: W_ice and T_ice

F_B

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18 RHEVE 2011

Inversionbased control

-EM 1 EM 2 ICE _Brake Env. T_ice-ref F_Bref v_hev F_res T_em1 T_em2 T_ice v_hev F_B W_em1 W_em2 W_ice [W_iceW_em1 ] T_em1ref T_em2ref strategy T_ice-ref Wice-ref W_em1-ref k_d1 k_d2

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19 MEGEVH RHEVE 2011 0 200 400 600 800 1000 0 50 100 Vehicle speed (km/h) t(s)

Simulation using MatlabSimulink

-same simulation model and same control scheme but:

• different topology parameters • different controllers

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RHEVE

2011

4. V

ALIDADTION OF THE

C

OMMON

C

ONTROL

S

CHEME

Funding of Regions “Nord-Pas-de-Calais”, “Franche-Comté” & EU (FEDER) within MEGEVH-strategy project

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21

MEGEVH

RHEVE 2011 Toyota Prius II

Validation by simulation

Simulation of Toyota Prius II

-2778 0 7222 0 1,  , ,  ,  _R _S T k k k VEHLIB Experimental validation LTE Common EMR

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22 RHEVE 2011 Commun EMR VEHLIB Model part VEHLIB Control part Structural Representation Heuristic Approaches Functional Representation VEHLIB Control part 0 200 400 600 0 20 40 60 80 v_hev (kph) t (s)

Japanese 10-15 driving cycle

0 1000 2000 3000 4000 5000 -20 0 20 40 60 80 100 120 225 250 250 275 275 30₀ ₃₀₀ 40₀ ₄₀₀ N_ICE(rpm) T_ICE(Nm) 0 1000 2000 3000 4000 5000 -20 0 20 40 60 80 100 120 225 250 250 275 275 30₀ ₃₀₀ 40₀ ₄₀₀ N_ICE(rpm) T_ICE(Nm)

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-23 MEGEVH RHEVE 2011 ICE EM 2 VSI 2 Fuel Chop Bat VSI 1 EM 1 Trans. Bat

HIL simulation HIL simulation

HIL simulation of a series HEVs

-T R S k  1, k  0, k  0,6 0 200 400 600 800 1000 0 200 400 600

Machine Speed - EM1 (rad/s)

t(s) 0 200 400 600 800 1000 -200 0 200_{EM1 torque (Nm)} t(s) 0 200 400 600 800 1000 -200 0 200 ICE torque (Nm) t(s)

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24 RHEVE 2011 EM1 EM2 ICE emulator Powertrain emulator

HIL simulation of a series HEVs

-dSPACE 1103 _{NiMH Bat} Inverters

Choppers

the common control runs in real-time!

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25

MEGEVH

RHEVE 2011

Experimental results

-using supercapacitor for battery emulation simple thermostat strategy

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RHEVE

2011

C

ONCLUSION

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27

MEGEVH

RHEVE 2011

Conclusion

-MEGEVH

• collaborative works on HEVs

• development of common tools for HEV’s studies • EMR as graphical energetic description

• inversion-based control method for control organization

Common control scheme for some HEVs

• same simulation model by adding topology parameters

• common control scheme (but different controllers and strategies) • validation of the common model using the Toyota Prius