« electric superbike regenerative braking study using emr · 2017. 7. 20. · « electric...
TRANSCRIPT
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EMR’17
University Lille 1
June 2017
Summer School EMR’17
“Energetic Macroscopic Representation”
« Electric Superbike Regenerative
Braking Study using EMR »
Félix-A. LEBEL, Pascal MESSIER, Louis PELLETIER, João P. TROVÃO
e-TESC Lab., Université de Sherbrooke, QC, Canada
mailto:[email protected]
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EMR’17, University of Lille 1, June 20172
« Electric Superbike Regenerative Braking Study using EMR »
- Outline -
1. SuperBike Context
• eMotoRacing varsity challenge
• Vehicle specifications
2. Modeling and control of the SuperBike
• EMR
• Inversion-based Control
• Energy strategy
3. Racetrack Simulations
• Speed-time generation
• TSBK raceway results
• Results and analysis
4. Conclusion
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EMR’17
University Lille 1
June 2017
Summer School EMR’17
“Energetic Macroscopic Representation”
« SuperBike Context »
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EMR’17, University of Lille 1, June 20174
« Electric Superbike Regenerative Braking Study using EMR »
- eMotoRacing varsity challenge -
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EMR’17, University of Lille 1, June 20175
« Electric Superbike Regenerative Braking Study using EMR »
- eMotoRacing varsity challenge -
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EMR’17, University of Lille 1, June 20176
« Electric Superbike Regenerative Braking Study using EMR »
- Vehicle specifications -
• Aerospace inspired hollow aluminum chassis designed to maximize
battery space;
• The motorcycle’s dry weight is 220kg and is powered by a 160kW
EMRAXR axial flux permanent magnet synchronous machine.
• Fixed (21:35) dual stage gear ratio.
• Rinehart Motion Systems PM150-DZ Drive is used to control the motor.
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EMR’17
University Lille 1
June 2017
Summer School EMR’17
“Energetic Macroscopic Representation”
« Modeling and control of the
SuperBike »
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EMR’17, University of Lille 1, June 20178
« Electric Superbike Regenerative Braking Study using EMR »
- EMR and IBC of the SuperBike -
vbatt
ibatt
Bat
Tm_ref
Tgb
Ww
Transmission
Drive
+ Motor
EMR
Local
controlTgb_ref
Tm
StrategyGlobal
control
Tw_ref
vBike_ref
Fbike
Road
vbike
Chassis
+ Inertia
Tb
Ww
Ww vbike
Wheels
TW FW
Brake
Tb_ref
Fv_ref
Kb
Wm
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EMR’17, University of Lille 1, June 20179
« Electric Superbike Regenerative Braking Study using EMR »
- EMR and IBC of the SuperBike -
vBat
iBat
Bat
« Battery Pack »
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EMR’17, University of Lille 1, June 201710
« Electric Superbike Regenerative Braking Study using EMR »
- EMR and IBC of the SuperBike -
vbatt
ibatt
Bat
« Battery Pack »
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EMR’17, University of Lille 1, June 201711
« Electric Superbike Regenerative Braking Study using EMR »
Quasi-static model
- EMR and IBC of the SuperBike -
vbatt
ibatt
Tm_ref
Drive + Motor
Tm
Wm
« Drive and Motor »
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EMR’17, University of Lille 1, June 201712
« Electric Superbike Regenerative Braking Study using EMR »
n = 21:35 reduction
- EMR and IBC of the SuperBike -
Tm_ref
Transmission
Tgb_ref
Tgb
Ww
Tm
Wm
« Transmission »
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EMR’17, University of Lille 1, June 201713
« Electric Superbike Regenerative Braking Study using EMR »
- EMR and IBC of the SuperBike -
Tgb_ref
T_ref
Tb
Ww
Brake
Tb_ref
Kb
Tgb
Ww Ww
TW
Kb
Kb
« Brake System »
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EMR’17, University of Lille 1, June 201714
« Electric Superbike Regenerative Braking Study using EMR »
- EMR and IBC of the SuperBike -
Tw_ref
Ww vbike
Wheels
TW FW
Fv_ref
« Wheels »
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EMR’17, University of Lille 1, June 201715
« Electric Superbike Regenerative Braking Study using EMR »
Fveh
Fres
- EMR and IBC of the SuperBike -
Fres
vBike_ref
Fbike
vbike
Chassis
+ Inertia
vbike
FW
Fv_ref
« Chassis and Inertia »
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EMR’17, University of Lille 1, June 201716
« Electric Superbike Regenerative Braking Study using EMR »
- EMR and IBC of the SuperBike -
Fbike
Road
vbike
« Environment »
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EMR’17, University of Lille 1, June 201717
« Electric Superbike Regenerative Braking Study using EMR »
No Regenerative Braking
• Negative battery current is not
allowed
With Regenerative Braking
• Electric braking is used as
much as possible
• Mechanical braking (Front and
rear wheel)
• Regen. is disabled if Battery
SOC goes above 100%
- Energy Strategy -
vbatt
ibatt
Strategy
Tw_ref
Kb
« Strategy »
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EMR’17
University Lille 1
June 2017
Summer School EMR’17
“Energetic Macroscopic Representation”
« Racetrack Simulations »
-
EMR’17, University of Lille 1, June 201719
« Electric Superbike Regenerative Braking Study using EMR »
- Speed-time generation -
VBike_ ref(t)
Wms
vBat
iBat
Bat
Tm_ref
Tgb
Ww
Transmission
Drive
+ Motor
EMR
Local
controlTgb_ref
Tm
StrategyGlobal
control
Tw_ref
vBike_ref
Fbike
Road
vbike
Chassis
+ Inertia
Tb
Ww
Ww vbike
Wheels
TW FW
Brake
Tb_ref
Fv_ref
Kb
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EMR’17, University of Lille 1, June 201720
« Electric Superbike Regenerative Braking Study using EMR »
- Speed-time generation -
1. Cornering speed
2. Fastest aceleration
3. Hardest braking
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EMR’17, University of Lille 1, June 201721
« Electric Superbike Regenerative Braking Study using EMR »
- Speed-time generation -
Mont-Tremblant raceway (TSBK)
EMUS
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EMR’17, University of Lille 1, June 201722
« Electric Superbike Regenerative Braking Study using EMR »
- TSBK raceway results -
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EMR’17, University of Lille 1, June 201723
« Electric Superbike Regenerative Braking Study using EMR »
Mont Tremblant New Jersey Highway
- Results and analysis -
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EMR’17
University Lille 1
June 2017
Summer School EMR’17
“Energetic Macroscopic Representation”
« Conclusion »
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EMR’17, University of Lille 1, June 201725
« Electric Superbike Regenerative Braking Study using EMR »
- Conclusion -
• The simulation results obtained with the dynamic model
using EMR show that regenerative braking could bring
improvements in range up to 14% on a race track.
• This can only be achieved with maximum use of motor
braking by the rider, and minimal use of the mechanical
brakes.
• The model also provided information on the maximum
current demand to the battery during normal operation.
• EMR made the modeling of the propulsion system more
structured than other representation methods.
• Future works include validation using actual racetrack
data.
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EMR’17
University Lille 1
June 2017
Summer School EMR’17
“Energetic Macroscopic Representation”
« BIOGRAPHIES AND REFERENCES »
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EMR’17, University of Lille 1, June 201727
« Electric Superbike Regenerative Braking Study using EMR »
- Authors -
Pascal MESSIER
MSc Candidate in Electrical Engineering at University of Sherbrooke
Félix-Antoine LeBel
MSc in Electrical Engineering at University of Sherbrooke (2017), PhD Candidate.
Louis PELLETIER
MSc Candidate in Electrical Engineering at University of Sherbrooke
Research topics: Electric MotoBike, Batteries Design and Health, BMS, Optimization
Prof. João P. TROVÃO
PhD in Electrical Engineering at University of Coimbra (2012)
Research topics: Electric Vehicles, Multiple Energy Storages, Energy Management
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« Electric Superbike Regenerative Braking Study using EMR »
- References -
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racing car using energetic macroscopic representation,” in 2014 IEEE Vehicle Power
and Propulsion Conference (VPPC), pp. 1–6, Oct 2014.
[2] L. Rodgers, “Designing an electric motorcycle for the isle of man tt zero race, and how
electric vehicle racing could be used to spur innovation,” in Proceedings for the Electric
Vehicle Symposium, 2012.
[4] A. Bouscayrol, B. Davat, B. de Fornel, B. François, J. P. Hautier, F. Meibody-Tabar, and M.
Pietrzak-David, “Multimachine multiconverter system: application for electromechanical
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[5] N. Faria, J. P. Trovao, A. F. Ramos, and P. G. Pereirinha, “Comparison of different battery
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[6] N. Faria, P. G. Pereirinha, and J. P. Trovao, “Modelling of an urban electric minibus using
energetic macroscopic representation graphic description,” in 2015 IEEE Vehicle Power
and Propulsion Conference (VPPC), pp. 1–6, Oct 2015.
[8] J. P. Trovao, M. R. Dubois, M. A. Roux, E. Menard, and A. Desrochers, “Battery and
supercapacitor hybridization for a pure electric three-wheel roadster,” in 2015 IEEE
Vehicle Power and Propulsion Conference (VPPC), pp. 1–6, Oct 2015.
[9] V. Cossalter, Motorcycle Dynamics. Vittore Cossalter, 2006