« EMR OF AN ELECTRIC EHICLE

EMR seminarLausanneSept. 2014

Seminar Sept. 2014“Energetic Macroscopic Representation”

«« EMR EMR OF ANOF AN EELECTRICLECTRIC VVEHICLEEHICLE »»

Dr. W. Lhomme, Prof. A. Bouscayrol, (L2EP, Université Lille1, France,)

http://www.emrwebsite.org/

EPF Lausanne, September 20142

«« EMR of an Electric Vehicle EMR of an Electric Vehicle »»

- Introduction -

model representation simulation

Simulation is a key issue before working on a real system…

Tazzari Zero of L2EP

realsystem

i miV mu

dcmchopchop

batchopchop

dcmarmdcmchopdcmarm iReuidtdL

geardcmdcm

dcmdcmdcmke

ikT

geargeardcmgear fTTdtdJ

diffgeargear

dcmgeargear

k

TkT

whdifdif

geardifdif

k

TkT

restotev FFvdtdM

Which kind of model?

How to define control?

How to organize Simulation?



- Outline -

1. Studied EV - Modelling

2. EMR of the EV

3. Control of the EV (objective)

4. More complex EVs



«« SSTUDIEDTUDIED EELECTRICLECTRIC VVEHICLEEHICLE

-- MMODELLINGODELLING SSTEP TEP »»



- Tazzari Zero EV -

ubat iim2

1 2 3 Tim

geariim1

its

Tazzari Zero characteristics

• 15 kW induction machine• 80V 160Ah LiFePO4 battery• 542 kg (empty mass)• Maximum speed: 85km/h



- Simplified EV -

Objective: control of the traction system

Simplifications: • a permanent magnet DC machine is considered in a first step• an equivalent wheel is considered (no curve)

ubat

i Tim

gear

its



- Modelling -

Battery: • RE model

Chopper: • ideal power switches• average modelling

)( )()()( )()(

chop

chop

titmtitVtmtu

dcmchop

batchop

(t))()( chopbat RitEtV



- Modelling (2) -

DC Machine: • no magntic saturation, permanent magnets

Armature winding

Electromagnetic conversion (PM)

Rotation shaft

)()()()( tiRtetutidtdL dcmarmdcmchopdcmarm

)t(k)t(e)t(ik)t(T

dcmdcm

dcmdcmdcm

1

)t(f)t(T)t(T)t(dtdJ dcm 111



- Modelling (3) -

Gearbox: • no losses

Wheel: • no slip

Chassis:

Environment:

)t(k)t(

)t(Tk)t(T

gear

gear

21

12

)t(vR

)t(

)t(TR

)t(F

evwh

whwh

1

1

2

2

)()()( tFtFtvdtdM reswhev

)(sin)()()( 20 tMgtbvtvaFtF evevres



«« EMR EMR OF THEOF THE EV EV --MMODELODEL OORGANIZATION RGANIZATION »»



- EMR of the EV -

ubat

Tdcm

1

its

ubat

ichop

uchop

iarm

mchop

i u

chopchop

chopchop

arm

bat

imVm

Battery

StructuralRepresentation

Functional Description



idcm

- EMR of the EV -

ubat

i Tdcm

1

its

ubat

Batteryichop

uchop

iarm

Tdcm

1edcm

mchop

1

T1

dcmarmdcmchopdcmarm iReuidtdL 111 fTT

dtdJ dcm

1dcmdcm

dcmdcmdcmke

ikT



- EMR of the EV -

ubat

i Tdcm

1r

its

ubat

Batteryichop

uchop

iarm

Tdcm

1 T2

idcm

edcm

mchop

Fwh

1

T1

2 vev

21

22

gear

gear

k

TkT

2

2whev

whwhRv

FRT



- EMR of the EV -

ubat

i Tdcm

1

its

ubat

Batteryichop

uchop

iarm

Tdcmidcm

edcm

mchop

Fwh

Fres

vev

vev

restotev FFvdtdM

1 T2 Fwh

1

T1

2 vev



- EMR of the EV -

ubat

i Tdcm

1

its

ubat

Batteryichop

uchop

iarm

Tdcmidcm

edcm

mchop

Fwh

Fres

vev

vev

Conflict of association:1 and vev state variables but 1gearwhev kRv

permutations

1 T2 Fwh

1

T1

2 vev



- EMR of the EV -

ubat

i Tdcm

1

its

ubat

Batteryichop

uchop

iarm

Tdcm

1

idcm

edcm

mchop

Fwh

Fres 2 vev

Fwh

Fres

vev

vev

Conflict of association:a unique state variable is required!

merging

T1 vev

fR

kFFv

dtdM

wh

gearrestoteveq 2

2

shaftwh

geareq J

R

kMM 2

2



- EMR of the EV -

ubat

Batteryichop

uchop

iarm

Tdcm

1

idcm

edcm

mchop

Fwh

Fres 2 vev

T1 vev

Env.

A

M g

Faero

½ Froll½ Froll

Fgrade

sinMgvACcosMgkF evxairrollres 221



«« CCONTROLONTROL OF THEOF THE

SSTUDIEDTUDIED EELECTRICLECTRIC VVEHICLEEHICLE »»



- Tuning path -

Objective: control the EV velocity

Tuning variable: modulation ratio of the DC-DC converter

chopper DC machine gearboxes wheel chassis

ubat

Batteryichop

uchop

iarm

Tdcm

1

idcm

edcmmchop

Fwh

Fres2 vev

T1 vev

Env.

Control ?vev-ref



- Maximum Control Structure -

Maximum Control Structure: • inversion of each element step-by-step• all variables are assume measurable

chopper DC machine gearboxes wheel chassis

ubat

Batteryichop

uchop

iarm

Tdcm

shaft

idcm

edcmmchop

Fwh

Fres gear diff vev

Tgear Tdiff vev

Env.

vev-refFwh-refTdiff-refTgear-refTdcm-refidcm-refuchop-ref



- Simulation -

Matlab-Simulink ©, using the EMR library



- Implementation on the real vehicle -

ElectronicControl Unit

sensors



«« MMOREORE CCOMPLEXOMPLEX

EELECTRICLECTRIC VVEHICLESEHICLES »»



rwh

lwh

Tldiff

Trdiff

vveh

Fenv

diff

Tgear

JshTdcm

gear

Tload

gearfsh

ich-auch-a

ia

ubat

if uch-f

ich-f

itot

ea

ia

if

ef

Tdcm

gearuch-f

ia

uch-a

if

ENVTgear

diff

Tldiff

lwh

rwh

Tdiff

wh Trdiff

Flwh

vrwh

vlwhvvehFtot

Ftotvveh

Rt

Frwhitot

BATubat

mch-f

mch-aubat

ubat

ich-f

ich-a

wheels chassisgearbox differentialDC machinechoppersparallel

connection

- EV with a field-winding DC machine -



«« RREFERENCES EFERENCES »»



- References -

A. Bouscayrol, W. Lhomme, P. Delarue, B. Lemaire-Semail, S. Aksas, “Hardware-In-the-Loop simulation of electric vehicle traction systems using Energetic Macroscopic Representation”, IEEE-IECON'06, Paris, November 2006.

A. Bouscayrol, A. Bruyère, P. Delarue, F. Giraud, B. Lemaire-Semail, Y. Le Menach, W. Lhomme, F. Locment, “Teaching drive control using Energetic Macroscopic Representation - initiation level”, EPE'07, Aalborg, September 2007.

K. Chen, P. Delarue, A. Bouscayrol, R. Trigui, “Influence of control design on energetic performances of an electric vehicle”, IEEE-VPPC'07, Arlington (U.S.A.), September 2007.

K. Chen, A. Bouscayrol, W. Lhomme, “EMR and Inversion-based control: application to an Electric Vehicle with an electrical differential”, Journal of Asian Electric Vehicles, vol. 6, no.1, p. 1097-1102, June 2008.

K. Chen, A. Bouscayrol, A. Berthon, P. Delarue, D. Hissel, R. Trigui, W. Lhomme, “Global energetic modelling of different architecture Hybrid Electric Vehicles”, ElectrIMACS'08, Québec (Canada), May 2008.

C. Depature, W. Lhomme, A. Bouscayrol, “Teaching Electric Vehicle drive control using Energetic Macroscopic Representation”, EVS’27, Barcelona (Spain), November 2013.

W. Lhomme, Ph. Delarue, Ph. Barrade, A. Bouscayrol, “Maximum Control Structure of a series hybrid electric vehicle using supercapacitors”, EVS'21, Monaco, April 2005.



ich1

ubat

ifield

efield

battery choppers

(2.134)(2.135)

DC machine

(2.136)(2.135)(2.138)

ubat

Bat.itot

Env.

uch1

iarm

iarm

earm Tem

gear

Tgear

wh

Fwh

Fres

vev

vev

gearbox

(2.140)

mch1

ifield

uch2

ich2

ubat

(2.131)(2.132)

parallel connexion

(2.133)

wheel

(2.141) chassis

(2.144)

environment

(2.143)

mch2

ifield-ref

uch1-ref iarm-ref

Tem-ref Tgear-ref Fwh-ref vev-ref

uch2-ref

strategy driver request SoCest

wh-est vev-est

(3.21) (3.22) (3.23)

(3.24) (3.25)

(3.26) (3.27)

(3.28)

(3.29)

(3.30) (3.31) (3.32)

- EV with a field-winding DC machine -

Documents

« EMR OF AN ELECTRIC EHICLE