Intro to parallel and series/parallel HEV architectures ...ecee.colorado.edu/~ecen5017/lectures/CU/L12_slides.pdf · Intro to parallel and series/parallel HEV ... time [sec] Step

CU‐Boulder ECEN5017, USU ECE 6930 1

Intro to parallel and series/parallel HEV architectures

Vehicle controller design review

CU‐Boulder ECEN5017, USU ECE 6930

Parallel HEV

• ICE and ED2 mechanically coupled to combine traction powerniceTice + n2T2 = nT

• Reduced size ED2; in a “micro” hybrid, ED2 is a low‐power starter/alternator• One electric drive: it is not possible to have electric drive traction and battery charging at the same time

• Requires multi‐gear transmission

ICE

3-phaseinverter/rectifier

2

Electricmotor/

generator2

Transmission

ED2Energystorage

Wheels(radius rv)

Fuel

VDC n2 T2nv Tv

nice Tice

Fvv

n T

2


Series/Parallel HEV

• ICE, ED1 and ED2 mechanically coupled via a planetary gear; ICE and electric drive can combine traction power

• Capable of realizing HEV efficiency improvements• Simple single‐gear transmission

ICE


2

Electricmotor/

generator2

Transmission

ED2

Energystorage

Wheels(radius rv)

Fuel

VDC

n2 T2nv Tv

nice Tice

Fvv


1

Electricmotor/

generator1

ED1

n1 T1

DC-DCVbatt

+

_

n T

3


Series/parallel HEV example: 2004 Prius

ICE


2

Electricmotor/

generator2

Transmission

ED2

Energystorage

Wheels(radius rv)

Fuel

VDC

n2 T2nv Tv

nice Tice

Fvv


1

Electricmotor/

generator1

ED1

n1 T1

DC-DCVbatt

+

_

n T

208 V1.3 kWhNiMH

500 V

boost

buck

50 kW PMSM

25 kW PMSM

57 kW @ 5000 rpm

112 TnTnnTnT iceice

12 4.04.1 nnnn ice

ring = ED2, n = n2planets = ICE, nicesun = ED1, n1

Overall drive train system power rating: 82

kW (110 hp)

Planetary gear (“power split device (PSD)”) animation: http://eahart.com/flash/PSDAnim.swf

4


Series/parallel HEV example: 2004 Prius1

2

Power electronics (2 inverters and a boost DC‐DC)

HEV drive train

5


Modes of operation: starting and low‐speed

ICE


2

Electricmotor/

generator2

Transmission

ED2

Energystorage

Wheels(radius rv)

Fuel

VDC

n2 T2nv Tv

nice Tice

Fvv


1

Electricmotor/

generator1

ED1

n1 T1

DC-DCVbatt

+

_

n T

208 V1.3 kWhNiMH

500 V

boost

buck

50 kW PMSM

25 kW PMSM

57 kW @ 5000 rpm



kW (110 hp)

6


Modes of operation: cruising

ICE


2

Electricmotor/

generator2

Transmission

ED2

Energystorage

Wheels(radius rv)

Fuel

VDC

n2 T2nv Tv

nice Tice

Fvv


1

Electricmotor/

generator1

ED1

n1 T1

DC-DCVbatt

+

_

n T

208 V1.3 kWhNiMH

500 V

boost

buck

50 kW PMSM

25 kW PMSM

57 kW @ 5000 rpm



kW (110 hp)

7


Modes of operation: full acceleration

ICE


2

Electricmotor/

generator2

Transmission

ED2

Energystorage

Wheels(radius rv)

Fuel

VDC

n2 T2nv Tv

nice Tice

Fvv


1

Electricmotor/

generator1

ED1

n1 T1

DC-DCVbatt

+

_

n T

208 V1.3 kWhNiMH

500 V

boost

buck

50 kW PMSM

25 kW PMSM

57 kW @ 5000 rpm



kW (110 hp)

8


Modes of operation: deceleration/braking

ICE


2

Electricmotor/

generator2

Transmission

ED2

Energystorage

Wheels(radius rv)

Fuel

VDC

n2 T2nv Tv

nice Tice

Fvv


1

Electricmotor/

generator1

ED1

n1 T1

DC-DCVbatt

+

_

n T

208 V1.3 kWhNiMH

500 V

boost

buck

50 kW PMSM

25 kW PMSM

57 kW @ 5000 rpm



kW (110 hp)

9


Summary• HEV

– Electrified drivetrain offers efficiency improvements– Battery system: relatively small energy capacity, but relatively large power rating

• PHEV or EV– Fuel displaced by electricity– Same efficiency improvements as HEV– Battery system: large energy capacity and large power rating

10


Vehicle Controller Design Review

11

Gphy(s)fv(s)

v(s)GEV(s)Gc(s)+–vref(s)fvc(s)

sGsG z

cmc1)(

System small‐signal model:

Vehicle controller

Goal: choose the PI controller parameters Gcm and wz to minimize settling time Tsettle upon a step in vref, subject to an overshoot constraint

EV example: Mv = 1500; % Vehicle curb weight + 250 kg passenger and cargoCd = 0.26; % Coefficient of Drag Cr = 0.01; % Coefficient of Friction Av = 2.16; % Front area [m^2]rho_air = 1.204; % Air density [kg/m^3]


phy

phyphy sGsG

1

1)( 0 N(m/s) 0.2211

10

VACG

vdphy

mHz 0.4821 1

v

vdphy M

VACf


sGsG z

cmc1)( )()()( sGsGsT phyc

10

1VAC

Gvd

phy

v

vdphy M

VACf 1

21

phy

phyphy sGsG

1

1)( 0 Loop gain T(s): fz < fphy


Loop gain T(s): fz = fphy

14

sGsG z


10

1VAC

Gvd

phy

v

vdphy M

VACf 1

21

phy

phyphy sGsG

1

1)( 0

sMGsT vcm /)(

v

cmc M

Gf21


sGsG z


10

1VAC

Gvd

phy

v

vdphy M

VACf 1

21

phy

phyphy sGsG

1

1)( 0

v

cmc M

Gf21

sMGsT vcm /)(

Loop gain T(s): fz > fphy


Example Gc(s)

16

sGsG z

cmc1)(

Hz 0.11 21

v

cmc M

Gf

(m/s)N 1000cmG Hz 2.0zf


Loop gain T: magnitude and phase responses

17

-50

0

50

100

150

Mag

nitu

de (d

B)

10-4

10-2

100

-180

-135

-90

Phas

e (d

eg)

Bode Diagram

Frequency (Hz)

fc = 0.17 Hz

m= 40o

(m/s)N 1000cmG

Hz 2.0zf


0 5 10 15 20 25 30 35 400

10

20

30S

peed

[mph

]

Reference SpeedEV Speed

0 5 10 15 20 25 30 35 40-5000

0

5000

10000

Forc

e [N

]

Drive ForceResistive Force

0 5 10 15 20 25 30 35 40-50

0

50

Trac

tive

Pow

er [k

W]

time [sec]

Step vref response

18

v

vref

fv [N]

fr [N]

pv [kW]

p = 9.7 %

Tsettle = 7.45 s

Overshoot computed with respect to final vref = 20 mph


Improved design: choose fz = fphy

19

phy

phyphy sGsG

1

1)( 0

N(m/s) 0.2211

10

VACG

vdphy

mHz 0.4821 1

v

vdphy M

VACf

(m/s)N 1000cmG

mHz 48.0 phyz ff

kg 1500vM

sGsG z

cmc1)(

sMGsT vcm /)(

Hz 0.11 21

v

cmc M

Gf


Loop gain T(s)

20

-50

0

50

100M

agni

tude

(dB)

10-4

10-2

100

-91

-90.5

-90

-89.5

-89

Phas

e (d

eg)

Bode Diagram

Frequency (Hz)

fc = 0.11 Hz

m= 90o


Step vref response

21

0 5 10 15 20 25 30 35 400

10

20S

peed

[mph

]


0 5 10 15 20 25 30 35 400

5000

10000

Forc

e [N

]


0 5 10 15 20 25 30 35 400

10

20

Trac

tive

Pow

er [k

W]

time [sec]

p = 0 %

Tsettle = 5.54 s


Improved design: choose fz = fphy,increase fc by increasing Gcm

22

(m/s)N 10000cmG

mHz 48.0 phyz ff

sGsG z

cmc1)(

sMGsT vcm /)(

Hz 1.1 21

v

cmc M

Gf


Loop gain T(s)

23

-50

0

50

100

150M

agni

tude

(dB)

10-4

10-2

100

-91

-90.5

-90

-89.5

-89

Phas

e (d

eg)

Bode Diagram

Frequency (Hz)


Step vref response

24

0 5 10 15 20 25 30 35 400

10

20

30S

peed

[mph

]


0 5 10 15 20 25 30 35 400

5000

10000

Forc

e [N

]


0 5 10 15 20 25 30 35 400

20

40

60

Trac

tive

Pow

er [k

W]

time [sec]

p = 0.01 %

Tsettle = 0.55 s


Improved design: choose fz = fphy,increase fc by increasing Gcm further

25

(m/s)N 100000cmG

mHz 48.0 phyz ff

sGsG z

cmc1)(

sMGsT vcm /)(

Hz 11 21

v

cmc M

Gf


Step vref response

26

0 5 10 15 20 25 30 35 400

10

20

30

Spe

ed [m

ph]


0 5 10 15 20 25 30 35 400

5000

10000

Forc

e [N

]


0 5 10 15 20 25 30 35 400

20

40

60

Trac

tive

Pow

er [k

W]

time [sec]

p = 0.2 %

Tsettle = 0.47 s


What is the effect of increasing fz?

27

(m/s)N 10000cmG

sGsG z

cmc1)(

sMGsT vcm /)(

Hz 1.1 21

v

cmc M

Gf

Hz 048.0100 phyz ff

o87.4 m


Step vref response

28

0 5 10 15 20 25 30 35 400

10

20

30S

peed

[mph

]


0 5 10 15 20 25 30 35 40-5000

0

5000

10000

Forc

e [N

]


0 5 10 15 20 25 30 35 40-50

0

50

100

Trac

tive

Pow

er [k

W]

time [sec]

p = 1.82 %

Tsettle = 0.50 s


Integrator wind‐up

29

actualspeed [m/s]

referencespeed [m/s]

Driver is given PI dynamics to control vehicle speed to a given reference.Output control value is the force command given to the vehicle drive system via gas/break pedals

Vehicle Controller Model

1Fvcommand

Max Force

Command1s

Integrator

Gcm

wz

2vref

1v

Fcommand


Preventing integrator wind‐up

30

Stop integration if required gas pedal exceeds maximum available

actualspeed [m/s]

referencespeed [m/s]

Driver is given PI dynamics to control vehicle speed to a given reference.Output control value is the force command given to the vehicle drive system via gas/break pedals

Vehicle Controller Model

1Fvcommand

Product

Max Force

Command1s

Integrator

Gcm

wz

|u|

2vref

1v

Fcommand


Step vref response

31

0 5 10 15 20 25 30 35 400

10

20

30S

peed

[mph

]


0 5 10 15 20 25 30 35 400

5000

10000

Forc

e [N

]


0 5 10 15 20 25 30 35 400

20

40

60

Trac

tive

Pow

er [k

W]

time [sec]

p = 0.2 %

Tsettle = 0.55 s


Response to change in grade of road

32

Gphy(s)fv(s)

v(s)GEV(s)Gc(s)+–vref(s)fvc(s)

System small‐signal model:

Vehicle controller

Documents

Intro to parallel and series/parallel HEV architectures ...ecee.colorado.edu/~ecen5017/lectures/CU/L12_slides.pdf · Intro to parallel and series/parallel HEV ... time [sec] Step