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EMR’12MadridJune 2012

Joint Summer School EMR’12“Energetic Macroscopic Representation”

EMR AEMR ANDND IINVERSIONNVERSION--BBASEDASED CCONTROLONTROL FFOROR

HIL SHIL SIMULATIONIMULATION OFOF A DA DOUBLEOUBLE PPARALLELARALLEL HEVHEVTony LETROUVE

L2EP, University Lille1, PSA Peugeot Citroën, MEGEVH [email protected]

Walter LHOMME, Alain BOUSCAYROL L2EP, University Lille1, MEGEVH network

Nicolas DOLLINGER, Fabien MERCIER CALVAIRACPSA Peugeot Citroën

EMR’12, Madrid, June 20122

EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV

- Outline -

1. Context et objectives

2. HIL Simulations2. HIL Simulations

3. Conclusion & perspectives



CCONTEXT ONTEXT AAND ND OOBJECTIVESBJECTIVESCCONTEXT ONTEXT AAND ND OOBJECTIVESBJECTIVES

•• PhD thesis objectivesPhD thesis objectives•• Relevant definitionsRelevant definitions•• Industrial and scientific contextsIndustrial and scientific contexts



- Context and Objectives -

Thesis title :Methodology of energy managment and Real time applicat ion for HEV Using EMR

T. Letrouvé

DRD/DRIA/TASE/CO2E

Control and Optimisation of Energy and Emission

Supervisors L2EP : A. Bouscayrol, W. Lhomme Supervisors PSA : N. Dollinger, F. Mercier Calvairac

Laboratory of Electrical Engineering and Power Electronics

GEE/ Control team

Scientific issues:Innovative approach of a systematic control from simulation to prototype,Coupling between functional and structural approaches,Systematic strategy.



Σ

Modelling 1Assumption 1

Description 11

Description 12

Sim. Soft. 121

Sim. Soft. 122

Sim. Soft. 123

Sim. Soft. 211

- Definitions -

Modelling 2Assumption 2 Description 21

Description 22

Sim. Soft. 212

Sim. Soft. 213

ModellingMathematical description of the system behaviour defined according to assumptions associated to objectives (static / dynamic model, causal or not …)DescriptionModel organization which permits to highlight some system properties. No assumption between model and description. (State description, BondGraph, EMR, …)Simulation softwareComputer organization of a description which permit to simulate the system behaviour.(C language, Range Kuttamethod, …)



Modelling

Simulation

Control 1

Modelling

Simulation

ControlDescription

Professional approach for the control elaboration of a hybrid electric vehicle

L2EP/MEGEVH approach for the control elaboration of a hybrid electric vehicle

- Problematic and Objectives -

Prototype Prototype

Emulation

LV Load

ICE

Rear Electric machine

CltchBattery HV

GB

Front Electric machine

LV Battery

Industrial objective : Use a description tool like EMR to structure the control from simulation to prototype.

Control 2



HIL SHIL SIMULATIONIMULATIONHIL SHIL SIMULATIONIMULATION

•• EMR and IBC of the studied vehicleEMR and IBC of the studied vehicle•• Emulations doneEmulations done•• Emulation resultsEmulation results



Bat HV Bat LV

ICETice

Fres

vvéh

Env.Fbrakes

Sources

Non linear conversion elements

Strategy

kboîte

Stator

Front EM

TFEM

TREM

Rear EM

GB Rear Trans.

GBFront Trans.

Pcltch

Pdogbox

Dogbox

clutchP B

- EMR of the studied System -

Bat HV Bat LVCoupling elements

Conversion elements

1

2

3

4

5

Drivers actions

Load BT

ICE

Rear Electric machine

CltchHVBattery

GB

Front Electric machine

LV Battery

Stator

TdemDC/ DC

mDC/DC



- Inversion based control of the studied system -

SE

mond1

REM

SMFres

vvéhEnv.

kboîte

SM

Brakes

F

pemb

mond2

FEM

Cmth-ref

SM

ICECmth

pcrabot

F frein-refSE Vbat-BT

mhachDC/DC

MCCdem

SE

kdem kdem

Vbat-BT-ref

ibat-BT-ref

Objective: Control the current in the low voltage batteryTuning variable: mDC/DC



F

mond2

SE

mond1

REM

SMFres

vvéhEnv.

kboîte

SM

Brakes

F

pemb

FEM

Cmth-ref

SM

ICECmth

pcrabot

- Inversion based control of the studied system -

Objective: Control the vehicle speedTuning variables: Tmth_ref,mond2,mond1,Fbrakes_ref

F frein-ref

vref

Krep-ar G/D

Krep frein

Krep-av G/D

Krep av/ar

Bloqué

Ouvert

vvéh-ref

Ωarbre-ref

Bloqué

Patinage

Ωarbre-ref

Krep-av Mth/mel-av

Vbat-BT-ref

STRATEGY

ibat-BT-ref

F frein-refSE Vbat-BT

mhachDC/DC

MCCdem

SE

kdem kdem



• What is a power Hardware-In-the-Loop simulation?

- What is a PHIL Simulation? -

Sub-system 1 models

Sources models

Load Models

Sub-system 2 models

IS

Simulation environment

Control signals

measures

ReferencesControl algorithm

A. Bouscayrol, “Hardware-In-the-Loop simulation”, Industrial Electronics Handbook, second edition, tome 3, Chapter M35, Editions Taylor & Francis, Chicago



• Example of a EV Power HILs

- Example of a PHIL Simulation -

Interface system

BatteryElectric machine

Electric machine Network

Source

Electric machine 1

ECU

Control Signals

Energy source

References

measures

Control algorithm

Emulated subsystem

Emulated load

Emulation source

Electric machine 2

Control of the EM

Interface system

Testedsubsystem

Objectives of a reduced scale HILs•validate the real time portability of the control done in simulation,•validate indirectly models used in simulation,•test the fault tolerance of the system,•precise the requirements.

Objectives of a full scale HILs•validate directly models used in simulation,•take into account all the limitation and component constraints.



RearEM

Front EM

- HIL simulation -

Load2,2 kW

Supercaps



Bat HV

Front EM

TFEM-ref

TREM-ref

Rear EM

Tice-ref

vveh

Ftot

Env.

GBRear

Trans.Pdogbox

Dogbox

Emul. R+Ice

Emul. Fr

Net.Scap

Plateforme HIL

Bat HV

Load 2,2 kW

ICEkboîte

GBFront Trans.

clutchP BPcltch

StrategyControl and emulated part



Front EM

TFEM-ref

TREM-ref

Rear EM

ICETice-ref

Emul. R+Ice

Emul. Fr

Net.Scap

Plateforme HIL

StrategyControl and emulated part



- Validation of the battery emulation -

0 50 100 150 2000

500

1000Vitesse de rotation de l'arbre des machines [trs/min]

227

227.5

228Tesion de la batterie de reference et réponse du système

Ubat

émulée

U réferenceU (V) U Ubus - measure

NDCM-mea (rpm)

Peugeot Ion

Battery emulation

Electric machine

Chassis emulation

0 50 100 150 200

227

Ubat

réference

0 50 100 150 200-10

0

10Courant de la machine de traction (DC)

0 2 0 4 0 6 0 8 0 1 0 0 1 2 0 1 4 0 1 6 0 1 8 0 2 0 00 . 7

0 . 7 5

0 . 8E m u la te d S O C o f t h e b a t te r y

Ubus (V)

I sc-mea (A)

Ubus - emulated

SOC-emul (%)

Peugeot Ion



Emulated HV battery

Power electronicsand control

RearElectric machine

RearPowertrain

Front Electric machine Front P.train

+ ICE



- Real time interface developed -


EMR and IBC for HIL simulation of a double parallel HEVEMR and IBC for HIL simulation of a double parallel HEV- Simulation results -

vhev-ref

PcltchOpen

close

Nrem-mes

N

Trem-ref ICE Battery

FEM

Clutch

Nfem-mes

Tfem-ref

Operating mode

REM

BatteryHV

DogBox

SoC_min_drive

SoC_min_stop

SoC



Conclusion & PerspectivesConclusion & PerspectivesConclusion & PerspectivesConclusion & Perspectives



- Conclusion -

Development of EMR and Inversion Based controlofthe HYbrid 4 architecture

Validation, using a reduced scale HIL simulation, delaof the real time portability of the control and strategydone in simulation.

Modélisation

CommandeReprésentation

Modification et optimization of the strategy

Use a full scale HIL simulation:Take into account component limitation andconstraintsDirect validation of models used in simulation

Use this deduced control in the real prototype

Simulation

Prototype

Emulation

Perspectives



PERSPECTIVES

Prototype

Caractéristics:ICE : DV6TED4Rear EM : PARVEX 20kWBattery : Li ion 10MJ

PTMU 1 IBC



BB IOGRAPHIES IOGRAPHIES AND AND RREFERENCESEFERENCESBB IOGRAPHIES IOGRAPHIES AND AND RREFERENCESEFERENCES



- Authors -

Tony LETROUVEUniversity Lille 1, L2EP, PSA Peugeot Citroën MEGEVHPhD student at University Lille 1 science and technology (since 2009)Research topics: EMR, HIL simulation, Prototyping on HEV.

Prof. Alain BOUSCAYROLUniversity Lille 1, L2EP, MEGEVH, FranceUniversity 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

Dr. Walter LHOMMEUniversity Lille 1, L2EP, MEGEVH, FranceAssociate professor in University Lille 1 science and technologyPhD in Electrical Engineering at University of Lille 1 (2007)

Dr. Nicolas DOLLINGER, Fabien MERCIER CALVAIRACPSA Peugeot Citroën France, France



- References -

[Letrouvé 09a] T. Letrouvé; P. Delarue; A. Bouscayrol, “Modelling and control of a double parallel hybridelectric vehicle using Energetic Macroscopic Representation”, Electromotion’09 , Lille, France, July2009.

[Letrouvé 09b] T. Letrouvé; A. Bouscayrol; W. Lhomme, “Influence of the clutch model in a simulation of aparallel Hybrid Electric Vehicle”, IEEE VPPC’09, Dearborn, USA, September 2009.

[Letrouvé 10] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Different modelsof a traction drive for an electric vehicle simulation”, IEEE VPPC’10, Lille, France, September 2010.

[Bouscayrol 11] A. Bouscayrol, P. Barrade, L. Boulon, K. Chen, Y. Cheng, P. Delarue, B. Lemaire-Semail,T. Letrouve, W. Lhomme, P. Sicard, “Teaching drive control using Energetic MacroscopicT. Letrouve, W. Lhomme, P. Sicard, “Teaching drive control using Energetic MacroscopicRepresentation – Summer schools”, EPE 2011, Birmingham, United Kingdom, August 2011

[Letrouvé 11] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Inversion BasedControl of a double parallel Hybrid Electric Vehicle: Validation in a structural software”, IEEE VPPC’11,Chicago, USA, September 2011.

[Letrouvé 12] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Reduced-scaleHardware-In-the-Loop Simulation of a Peugeot 3∞8 HYbrid4 vehicle”, IEEE VPPC’12, Seoul, Korea,October 2012.

http://emr.univ-lille1.fr/3008 HY4 3008 HY4

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