« EMR OF THE SUPPLY SYSTEM OF AN · 2014. 6. 27. · Mr. Clément MAYET University Lille 1, L2EP, France Siemens, Lille & Chatillon, France PhD student in Electrical Engineering

EMR’14CoïmbraJune 2014

Summer School EMR’14“Energetic Macroscopic Representation”

« EMR OF THE SUPPLY SYSTEM OF AN

AUTOMATIC SUBWAY»

Clément MAYET, Philippe DELARUE, Alain BOUSCAYROL, Eric CHATTOT, Jean-Noël VERHILLE

L2EP, University Lille1, FranceSiemens, Lille & Chatillon, France

EMR’14, Coïmbra, June 20142

« EMR of a simplified subway line »

- Context and Objective -

?

Estimate the energy consumption in order to evaluat e new solutions of energy reduction !

Accurate models are required with a fast computatio n time

Modeling difficulties Non-linear & non-reversible aspects of substations (causality change: voltage/current source)

Size of the system (important number of subsystems)



- Outline -

1. Quasi-static model of Val 208 subway• EMR• Inversion Based Control• Braking Management Strategy

2. Extension to a simplified subway line• EMR of a simplified subway line• Experimental validation

3. Conclusion & perspectives



« QUASI-STATIC MODEL OF

VAL 208 SUBWAY»



ibo

iL

icar

PMSM

PMSM

PMSM

PMSM

uC

ivsi Lf

Cbus

ibo

iL

icar

PMSM

PMSM

PMSM

PMSM

uC

ivsi Lf

Cbus

vsub

Brake

Tbk

Ωsm

Tt

Ωsm

Tbk-ref

brake

Fwh

vsub

gearbox & wheel

urail

isub

Rail Env.

Fres

vsub

iL

uC

uC

ibo

Aux.

iaux

itot

uC

uC

auxiliary filter

urail

iL

4

Tsm

Ωsm

uC

ivsi

Tsm-ref

PMSM

2

8

vsub

Ftot

Fres

vsub

chassis

- EMR of Val 208 automatic subway -

refsmsmsm

sm

ck

eqsm

smsmvsi TT

T

Tk

u

Ti −=

>Ω<Ω

=Ω

= and 0 when 1

0 when 1-with

sm

sm

η

+=Ω

bksmt

sm

TTT

common f

CrailL R

uui

−=

( )dtFFM

v restoteq

sub ∫ −= 1



Brake

Tbk

Ωsm

Tt

Ωsm

Tbk-ref

brake

Fwh

vsub

gearbox & wheel

urail

isub

Rail Env.

Fres

vsub

iL

uC

uC

ibo

Aux.

iaux

itot

uC

uC

auxiliary filter

urail

iL

4

Tsm

Ωsm

uC

ivsi

Tsm-ref

PMSM

2

8

vsub

Ftot

Fres

vsub

chassis

KDbk

8

Ftot-ref Tt-ref vsub-ref Fwh-ref

strategy

ibo

iL

icar

PMSM

PMSM

PMSM

PMSM

uC

ivsi Lf

Cbus

ibo

iL

icar

PMSM

PMSM

PMSM

PMSM

uC

ivsi Lf

Cbus

vsub

- IBC of Val 208 automatic subway -

1 objective: control vsub1 constrains: limit uC

2 tuning inputs:Tsm-ref and Tbk-ref

OK

( ) [ ]1,0with 1

∈

−==

−−

−−Dbk

reftDbkrefsm

reftDbkrefbkK

TKT

TKT



Brake

Tbk

Ωsm

Tt

Ωsm

Tbk-ref

brake

Fwh

vsub

gearbox & wheel

urail

isub

Rail Env.

Fres

vsub

iL

uC

uC

ibo

Aux.

iaux

itot

uC

uC

auxiliary filter

urail

iL

4

Tsm

Ωsm

uC

ivsi

Tsm-ref

PMSM

2

- Braking management strategy -

8

vsub

Ftot

Fres

vsub

chassis

KDbk

8

Ftot-ref Tt-ref vsub-ref Fwh-ref

strategy

( ) [ ]1,0with 1

∈

−==

−−

−−Dbk

reftDbkrefbk

reftDbkrefsmK

TKT

TKT

Respect the maximal braking torqueof the PMSM Tsm bk max

( )( )reft

smbksmreftDbk

T

TTK

Ω=

max1

,min

Limit the maximal value of the DC bus voltage uC

uC max

KDbk2

Voltage uc

0

1

( )

=phase braking theduring ,min

phase traction theduring 1

21 DbkDbkDbk KK

K



« EXTENSION TO A SIMPLIFIED

SUBWAY LINE»



- +

- Extension to a simplified subway line -

)(2 subr

railssr xR

uEi

−=

Rail modelling

Substation modelling

SUBSTATION

- +

Rail

ON

substation

Ess0

iss

iss=0

iss

Ess

Ess

iss

Ess

O N

O F

OFF

ss

ssssss R

EEi

−= 0

C1

Model OFF

Models ON C2

ssss EEC ≥01 :

0:2 <ssiC

Ess

ir

SS Sub

ir

urail

rail

xsub

-

+

Ess urail

Rr(xsub) ir

Rr(xsub)

iss Ess

Rss Ess0

- +



Ess

ir

ir

urail

rail

xsub

substation

isub=0

uC

O N

O F

filter

isub

uC

iss=0

Ess

Ess0

iss

isub

uC

xsub

substation

Ess0

iss

iss=0

iss

Ess

Ess

iss

Ess

O N

O F

ON

OFF

KDbk

Tsm

Ωsm

Brake

Tbk

uC

ivsi

Ωsm

8

vsub

Ftot

Env.

Fres

vsub Tt

Ωsm

8

Ftot-ref Tt-ref Tsm-ref

Tbk-ref

vsub-ref

PMSM brake chassis

uC

ibo

Aux.

iaux

itot

uC

uC

auxiliary

2

Fwh

vsub

Fwh-ref

gearbox & wheel

strategy

urail

isub

4

iL

uC

filter

urail

iL

4

iL

uC


( )4

2

0

fsubrss

Csssssub R

xRR

uEii

++

−==

( )

=+

+=

==

CCsubf

subrss

subss

uuiR

xRE

ii

42

0

C1

Model OFF

Models ON C2

ssss EEC ≥01 :

0:2 <ssiC




2 stations, length: 472 m, Maximal velocity: 58 km/h

Measurements:- DC bus voltage uC- Traction current itrac- Velocity vsub

Inputs variables:- Velocity vsub- Substation voltage Ess0- Slope- Auxiliaries Paux




Traction energy (kWh)

Time (s)

Traction current (A)

Time (s)

DC bus voltage (V)

Time (s)

Velocity (km/h)

Time (s)

Measurement Simulation

Energy 3,06 kWh 3,03 kWh

∆Wavg 2,98 %



« CONCLUSION & PERSPECTIVES»



- Conclusion & Perspectives -

Conclusion

• Description of a simplified subway line using EMR• Use of switching element to take into account the non-linearity of

the diode rectifier (models commutation)• Control the DC bus voltage using braking management strategy

Perspectives

• Extend this approach to an entire line with several subways and substations

• Study energy storage systems or reversible substations to improve the global efficiency of a subway line



« BIOGRAPHIES AND REFERENCES »



- Authors -

Prof. Alain BOUSCAYROLUniversity 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

Mr. Clément MAYETUniversity Lille 1, L2EP, FranceSiemens, Lille & Chatillon, FrancePhD student in Electrical Engineering at University Lille1Research topics: EMR, Subway line simulation, Energy management

Dr. Philippe DELARUEUniversity Lille 1, L2EP, FranceAssociate professor since 1991PhD in Electrical Engineering at University of Lille (1989)Research topics: EMR, Power electronic, Multi-machine system

Dr. Jean-Noël VERHILLE and Mr. Eric CHATTOTSiemens, Lille & Chatillon, France



- References -

[Allègre 10] A-L. Allegre, A. Bouscayrol, P. Delarue, P. Barrade, E. Chattot and S. El-Fassi, “Energystorage system with supercapacitor for an innovative subway”, IEEE Transactions onIndustrial Electronics, vol. 57, no. 12, pp. 4001-4012, December 2010.

[Barrero 12] R. Barrero, “Energy recovery technologies in public transport”, PhD Thesis, VrijeUniversity of Brussels, Brussels, Belgium, November, 2012.

[Bouscayrol 00] A. Bouscayrol, B. Davat, B. de Fornel, B. François, J-P. Hautier, F. Meibody-Tabar,M. Pietrzak-David, "Multimachine multiconverter system: application for electromechanicaldrives", European Physics Journal - Applied Physics, vol. 10, no. 2, pp. 131-147, May 2000.

[Mayet 14.a] C. Mayet, L. Horrein, A. Bouscayrol, P. Delarue, J-N. Verhille, E. Chattot, B. Lemaire-Semail, “Comparison of different models and simulation approaches for the energetic study ofa subway”, IEEE Transaction on Vehicular Technologies, vol. 63, no. 2, pp. 556-565, February2014.

[Mayet 14.b] C. Mayet, P. Delarue, A. Bouscayrol, J-N. Verhille, E. Chattot, “Impact of themechanical limitations of an automatic subway on the energy consumption ant the runningtime estimations,” Proceeding of ElectrIMACS, pp. 367-372, May 19-22, 2014, Valencia,Spain.

[Mayet 14.c] C. Mayet, P. Delarue, A. Bouscayrol, E. Chattot, J-N. Verhille, “Dynamic model andcausal description of a traction power substation based on 6-pulses diode rectifier”Proceeding of IEEE VPPC, October 27-30, 2014, Coimbra, Portugal.

Documents

« EMR OF THE SUPPLY SYSTEM OF AN · 2014. 6. 27. · Mr. Clément MAYET University Lille 1, L2EP, France Siemens, Lille & Chatillon, France PhD student in Electrical Engineering