introduction to the 'evs, hevs and emr" course
TRANSCRIPT
Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« IINTRODUCTION TO NTRODUCTION TO UUNIT NIT
EVEVS, S, HEVHEVS AND S AND EMREMR »»
Prof. Alain BOUSCAYROLL2EP, University Lille1, MEGEVH network,
Dr. Anouar BELAHCENDept. of Electrical Engineering, Aalto University,
HEVs & EMR, Aalto, May 20112
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Outline -
1. EVs, HEVs and EMR at University Lille1• University Lille1 / L2EP• Energetic Macroscopic Representation• MEGEVH network
2. Aalto University School of Electrical Engineering• Dept. of Electrical Engineering
• Power systems and transmission• High voltage engineering• Electric drives, Electromechanics• Power electronics, Industrial electronics
Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« EVEVS, S, HEVHEVS AND S AND EMREMRATAT UUNIVERSITY NIVERSITY LLILLEILLE11 »»
Prof. Alain BOUSCAYROLL2EP, University Lille1, MEGEVH network,
HEVs & EMR, Aalto, May 20114
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- University Lille1, Science & Technology -
Lille and suburbs more than 1.5 million inhabitants
4 universities
(150,000 students)
University of Lille 1
(30,000 students)
at the crossroad of Paris, London and Brussels
Paris
Lille
London
BrusselsCologne
Amsterdam
1h
1h200h35
TGV (railway)airport
0h50
France
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«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Bachelor
Master
PhD
+3 years
+5 years
+8 years
engineeringschools
French Baccalauréat
Professional life
Fields of study :• Social and human sciences• Economy and management• Sciences and technologies
~ computer sciences~ control engineering~ electrical engineering~ mechanics engineering~ telecommunications…
- Education in France and at University Lille1 -
Master « Automatic control and Electrical engineering »4 specialties including“Electrical Engineering andSustainable development” in English
HEVs & EMR, Aalto, May 20116
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- L2EP Lille -
28 professors and associate professors, 41 PhD students, 12 technical and administrative staff
Laboratory of Electrical Engineering and Power (L2EP)http://l2ep.univ-lille1.fr/
HEVs & EMR, Aalto, May 20117
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Prof. F. Piriou« Optimisation »Prof. P. Brochet
« Optimisation »Prof. P. Brochet« Numerical Modelling »
Prof. S. Clénet« Numerical Modelling »
Prof. S. Clénet
- Research at L2EP -
« Electrical grid »Prof. B. Robyns
« Electrical grid »Prof. B. Robyns
« Control »Prof. B. Lemaire-Semail
« Control »Prof. B. Lemaire-Semail
« Power Electronics »Prof. P. Le Moigne
« Power Electronics »Prof. P. Le Moigne
HEVs & EMR, Aalto, May 20118
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Fq/b
Vid id C
Vid-ref id-ref CrefFq-
ref
vq-ref
vqN
FTCriq Vid C
simulation devéhicule Electrique
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
« Control »Prof. B. Lemaire-Semal
« Control »Prof. B. Lemaire-Semal
- “Control” team of L2EP -
3 Professors4 Associate Professors12 PhD students
A. Bouscayrol« Electricityand Vehicle »
A. Bouscayrol« Electricityand Vehicle »
X. Kestelyn«Machine tools »
X. Kestelyn«Machine tools »
B. Lemaire-Semail« Electro-active
actuators »
B. Lemaire-Semail« Electro-active
actuators »
E. Semail« Multiphasemachine »
E. Semail« Multiphasemachine »
Formalisms bring solutions for new applications
New applications lead to the improvement of formalisms
HEVs & EMR, Aalto, May 20119
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- “eV” group of control team of L2EP -
1 Professor, 2 Associate Professors2 PhD students, 2 Post-doctoral position
A. Bouscayrol« Electricityand Vehicle »
A. Bouscayrol« Electricityand Vehicle »
Belfort
EPF Lausanne(Switzerland)
Graphical descriptions for:• railway traction systems• electric vehicles• hybrid electric vehicles• energy storage systems...
LTE
(HIT, China)
Future NeoVal subway
strategy
HEVs & EMR, Aalto, May 201110
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
1980 1990 2000 2010
PetriNets(use)
PowerElectronics
(COG)Causal
OrderingGraph
ElectricDrives
LEEI Toulouse (France)
[Hautier 1996]
(MMS)MultimachineMulticonverter
Systemdescription
ElectromechanicalSystems
LEEI / GREENLESiR / GE44
GdR SDSE-ME2MS(France)
[SMM 2000]
(EMR)Energetic
MacroscopicRepresentation
Univ. Trois Rivières (Ca)EPF Lausanne (CH)
FEMTO-STMEGEVH network
[Bouscayrol 2003]
- Modeling and control tools -
HEVs & EMR, Aalto, May 201111
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
• University of Lille, Polytech Lille, Arts&Métiers, EC Lille(including Master “Electric Vehicle” of Arts&Métiers)
– Master 1: COG - EMR initiation – Master 2: COG - EMR further development(lectures, tutorial works in simulation, practical works)
• Other French Universities and Engineering Schools– COG: Toulouse, Cachan, Belfort, CNAM Paris– EMR: Cachan (since 2004) Belfort (since 2006)
• Universities abroad France– Université de Québec Trois-Rivières (since 2002)– EPF Lausanne (since 2005)– University of Tsinghua (since 2008)
• EMR Summer Schools– EMR’06, Lille (in English, 100 attendees)– EMR’08, Harbin (China, 65 attendees)– EMR’09, Trois Rivières (Canada, 40 attendees)– EMR’11, Lausanne (Switzerland)
- Graphical description and Education -
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«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Collaborations using graphical descriptions -
(Warwick, UK)(Switzerland)
(Canada) (Harbin, China)
(Hong kong, China)(Italy)
(the Netherlands)
(Danmark)
(Beijing, China)
(Liverpool, UK)
(Germany)
(Spain)
Industries : Alstom Transport, CETIM, EADS, ETEL, Nexter System, PSA Peugeot Citroën, SAGEM (groupe SAFRAN), ST-micro, SAPELEM, SEPRO robotique, Siemens Transportation Systems, Valéo …
HEVs & EMR, Aalto, May 201113
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Scientific Influence -
• Special sessions in Conferences“Graphical descriptions for modelling and control”
IEEE-IECON’06 (Paris), ElectriMACS’08 (Québec), IEEE-VPPC’09 (Detroit), IEEE-VPPC’10 (Lille), IEEE-VPPC’11 (Chicago)
“HEVs modelling and control” (within the framework of MEGEVH)IEEE-VPPC’06 (Windsor, UK), IEEE-VPPC’08 (Harbin, China),
“Hardware-In-the-Loop simulation” (within the framework of MEGEVH)IEEE-VPPC’07 (Dallas), IEEE-VPPC’08 (Harbin, China), IEEE-ISIE’08 (Cambridge, UK)
“Multiphase drives”IEEE-VPPC’10 (Lille)
• Tutorials in international conferences“Tactile actuators”, EuroHaptics’06 (Paris)“Hardware-In-the-Loop simulation”, EVS’24 (Stavanger, Norway, 2009)“HEVs energy management”, IEEE-VPPC’09 (Detroit), IEEE-IECON’09 (Porto)
• Guest Editors of archival journals“Hardware-In-the-Loop simulation”, IEEE trans. on Industrial Electronics (2010)“Advanced transportation systems”, IEEE trans. on Vehicular Technology (2011)
• Conference organizationsIEEE-VPPC 2010 (Lille) EPE-ECCE 2013 (Lille)
Special sessionElectrIMAC’08
Tutorial IEEE-VPPC’09
HEVs & EMR, Aalto, May 201114
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Lille
Paris
Lyon
Toulouse
Valenciennes
Belfort
LaplaceLaplace LTE
LTN
LAMIHLAMIH
http://l2ep.univ-lille1.fr/megevh.htm
Bordeaux
Coordination:Prof.A. Bouscayrol
6 projects6 PhDs in progress4 PhDs defended
7 industrial partners10 academic Labs
(Energy management ofHybrid Electric Vehicles)
HEVs & EMR, Aalto, May 201115
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http://www.vppc2010.org
IEEE VPPC 2010IEEE VPPC 2010September 1-3, 2010 — Lille, France
Clean Tech for TransportationClean Tech for Transportationhttp://www.vppc2010.org/
IEEE Vehicle Power and Propulsion Conferenceannual joint conference of IEEE-PELS and IEEE-VTS,
organized by MEGEVH
more than 360 registrations from 35 countries
5 Tutorials, 9 Keynotes,
167 oral presentations, 104 posters
15 exhibitors, 2 technical visits, 1 awareness forum
Documents and videos available at:plus “carbon
care” action
HEVs & EMR, Aalto, May 201116
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Next EMR Summer School -
EMR’11, 4-7 July 2011, EPF Lausanne (Switzerland)
EMR’12, June 2012? Univ Carlos III (Madrid, Spain)
EMR’06 Lille, EMR’08 (Harbin, China), EMR’09 (Trois Rivières, Canada)
Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« Course on EVCourse on EVS, S, HEVHEVS AND S AND EMREMRAAALTO ALTO UUNIVERSITY NIVERSITY 20112011 »»
Prof. Alain BOUSCAYROLL2EP, University Lille1, MEGEVH network,
Dr. Anouar BELAHCEMDept. of Electrical Engineering, Aalto University,
All documents available at http://emr.univ-lille1.fr/
HEVs & EMR, Aalto, May 201118
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Unit organization -
Monday Tuesday Wednesday Thursday Friday08:30 EMR IBC ED Application 109:00 Introduction energetic Inversion Energy Application 209:30 Generalities description based control distribution Application 310:00 on HEVs Application 410:3011:00 Generalities Modelling of Control of Control of a Application 511:30 on HEVs an EV an EV parallel HEV Application 612:0012:30 Lunch Lunch Lunch Lunch Lunch13:00 Impact on Simulation Simulation Simulation13:30 the grid modelling control control14:00 of an EV of an EV of a parallel14:30 HEV15:00 Systemic15:30 and16:00 modelling16:30
Lectureson concepts
Applicationson exemples
Simulationwork
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«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
EV & HEV EMR method
- Unit outline -
Monday Tuesday Wednesday Thursday Friday08:30 EMR IBC ED Application 109:00 Introduction energetic Inversion Energy Application 209:30 Generalities description based control distribution Application 310:00 on HEVs Application 410:3011:00 Generalities Modelling of Control of Control of a Application 511:30 on HEVs an EV an EV parallel HEV Application 612:0012:30 Lunch Lunch Lunch Lunch Lunch13:00 Impact on Simulation Simulation Simulation13:30 the grid modelling control control14:00 of an EV of an EV of a parallel14:30 HEV15:00 Systemic15:30 and16:00 modelling16:30
Simulationusing Matlab
HEVs & EMR, Aalto, May 201120
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Lectures contents -
Monday Tuesday Wednesday Thursday Friday08:30 EMR IBC ED Application 109:00 Introduction energetic Inversion Energy Application 209:30 Generalities description based control distribution Application 310:00 on HEVs Application 410:3011:00 Generalities Modelling of Control of Control of a Application 511:30 on HEVs an EV an EV parallel HEV Application 612:0012:30 Lunch Lunch Lunch Lunch Lunch13:00 Impact on Simulation Simulation Simulation13:30 the grid modelling control control14:00 of an EV of an EV of a parallel14:30 HEV15:00 Systemic15:30 and16:00 modelling16:30
Applications: 1. Double parallel HEV, 2. HIL simulation, 3. Subway with Scaps,4. Fuel-Cell Vehicle, 5. Double-Planetary-Gear HEV, 6. Other application
HEVs & EMR, Aalto, May 201121
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Lecturers -
Prof. Alain BOUSCAYROLUniversity Lille 1, L2EP, MEGEVH, FrancePhD in Electrical Engineering at Univ.Toulouse (1995)Research topics: EMR, HIL simulation, tractions systems, EVs and HEVs
Dr. Lucia GAUCHIAUniversity of Carlos III, Madrid, SpainPhD on Energy Storage Systems at Univ Carlos III of Madrid (2009).Assistant Prof. at University Carlos III (2009) Visiting Prof at Univ Lille1 (2011)Research topics: Energy Storage Systems and HEVs
Dr. Walter LHOMMEL2EP, University Lille1, MEGEVH, FrancePhD on Hybrid Electric Vehicles at University Lille1, 2007Engineer at AVL (UK) (2007-2008) Associate Prof. at Univ. Lille1 (2008)Research topics: EMR, EVs and HEVs
Prof. Matti LEHTONENAalto University, FinlandResearch topics: Power Systems
Aalto University
HEVs & EMR, Aalto, May 201122
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- References -
[Bouscayrol 00] A. Bouscayrol, X. Guillaud, J. P. Hautier, P. Delarue, "Macromodélisation pour les conversions électromécaniques : application à la commande des machines électriques", (Text in Frenche), Revue Internationale de Génie Electrique, Vol. 3, n° 2, juin 2000, pp. 257-282
[Bouscayrol 07] 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 (Denmark), September 2007.
[Barre 06] P. J. Barrre, A. Bouscayrol, P. Delarue, E. Dumetz, F. Giraud, J. P. Hautier, X. Kestelyn, B. Lemaire-Semail, E. Semail, "Inversion-based control of electromechanical systems using causal graphical descriptions”, IEEE-IECON'06, Paris, November 2006
[Hautier96] J. P. Hautier, J. Faucher, “Le graphe informationnel causal”, (Text in French), Bulletin de l'Union des Physiciens, vol. 90, juin 1996, pp. 167-189.
[Hautier 04] J. P. Hautier, P. J. Barre, "The causal ordering graph – A tool for modeling and control law synthesis", Studies in Informatics and Control Journal, December 2004, Vol. 13, no. 4, pp. 265-283.
[MMS 00] MMS project, A. Bouscayrol, B. Davat, B. de Fornel, B. François, J. P. Hautier, F. Meibody-Tabar, M. Pietrzak-David, "Multimachine Multiconverter System: application for electromechanical drives", European Physics Journal - Applied Physics, vol. 10, no. 2, May 2000, pp. 131-147 (common paper GREEN Nancy, L2EP Lille and LEEI Toulouse, in the framework of the MMS national project of GdR-SDSE of CNRS).
Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« RRESEARCH IN ESEARCH IN EELECTRICAL LECTRICAL
EENGINEERING NGINEERING
ATAT AAALTO ALTO UUNIVERSITY NIVERSITY »»Dr. Anouar BELAHCEN
Dept. of Electrical Engineering, Aalto University,[email protected]
HEVs & EMR, Aalto, May 201124
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Structural Analysis
Drives
FluidMechanics
HeatTransfer
ElectromagneticAnalysisGrid
Loadsand Stresses
Components
Ventilators and fans
Cooling
Heat Exchangers
Core materials
ElectromechanicsMaterialSciences
Insulations
Permanent magnets
- Research Environment -
HEVs & EMR, Aalto, May 201125
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to develop numerical models for the electromagnetic properties of electrical steels under mechanical stress
Persons involvedKatarzyna FONTEYNAnouar BELAHCEN
FundingTEKES, TKK
CollaborationSeveral units fromTKK and TTY
Measuring set-up for electrical steel sheets underrotating magnetic field and biaxial stress
- Magneto-mechanical characterization of electrical steel (ended) -
HEVs & EMR, Aalto, May 201126
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to develop a dynamic hysteresis model for the analysis of losses in electrical steel sheets
Persons involvedEmad DLALAAnouar BELAHCEN
FundingAcademy of Finland, TKK
Core losses in a PM machine
- Core losses -
HEVs & EMR, Aalto, May 201127
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to develop loss models for the time-discretised, finite element analysis of electrical machines supplied from static frequency converters
Persons involvedJahirul ISLAMJenni PIPPURI
FundingTKK(ABB Oy)
High-frequency flux and distribution of average resistive
loss
- Losses in inverter-fed electrical machines -
HEVs & EMR, Aalto, May 201128
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – Energy-efficient electric drivePersons InvolvedAnna-Kaisa REPOHUYNH Van KhangFunding – Academy of Finland
Collaboration – Research Team of Electric Drives
- Reduction of losses in electrical machines -
HEVs & EMR, Aalto, May 201129
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to identify electromechanical models and estimate their parameters based on finite element analyses and measurements
Persons involvedAnna-Kaisa REPOOlli MÄKELÄAsko NIEMENMAA
FundingTEKES, ABB Oy, HST Oy, KONE Oyj
CollaborationResearch Team of Electric Drives
…
Rs
Lm
Lσs
Zr1 Zr2
Zc1 Zc2
- Parametric models of electrical machines (ended) -
-300 -200 -100 0 100 200 300
-5
0
5
10
f, Hz
Freq
uenc
y re
spon
se fu
nctio
n, A
/V
HEVs & EMR, Aalto, May 201130
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Core losses of an inverter-fedsynchronous motor
Persons involvedPaavo RASILO
FundingGraduate School of Electrical Engineering,ABB Oy
Aim – to develop models for finite-element analysis of rotor-surface losses in synchronous machines
- Rotor losses in electricl machines -
HEVs & EMR, Aalto, May 201131
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to understand, model and actively control the magnetic forces and their effects on rotordynamics of electrical machines
Persons involvedAntti LAIHOAnssi SINERVO
FundingAcademy of FinlandTKK
CollaborationVTT, TKK / Control Engineering,TKK / Applied mathematics
tangFtotalF
radialF
W
Whirling orbit
- Magnetic forces and rotordynamics -
HEVs & EMR, Aalto, May 201132
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
- Identification of time-periodic models -
Rs
R sr/
jXs jXr
jXm
is irus
0
200
400
600
800
1000
1200
0 10 20 30 40 50 60
Time [ms]
Torq
ue [N
m]
Equivalent circuit Time-discretised FEM
Aim – to identify models of time-periodic characteristics of electrical machines for control purposes
Persons involvedAnssi SINERVOAnna-Kaisa REPO
FundingAcademy of Finland,Graduate School of Electrical Engineering
CollaborationTKK/Control Engineering,Åbo Akademi , VTT Starting torque
HEVs & EMR, Aalto, May 201133
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Persons involvedZlatko KOLONDZOVSKIAnouar BELAHCEN
FundingGraduate School ofElectrical Engineering,TKK
Collaboration: LTY / Laboratory of Fluid Dynamics
Aim – to develop methods for thermo-mechanical analysisof a high-speed permanent-magnet machines
- Tools for analysing high-speed PM motors (ended) -
HEVs & EMR, Aalto, May 201134
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to develop the tools for analysing vibrations and noise of electrical machines
Persons involvedJanne ROIVAINEN
FundingABB Oy,Academy of Finland
- Method for vibration and noise analysis -
HEVs & EMR, Aalto, May 201135
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to develop the demagnetisation, eddy-current and thermal models of permanent magnets for finite-element analysis of electrical machines.
Persons involvedSami RUOHO
FundingFinnish Cultural Foundation,TKK
- Models of PM for finite element analysis -
HEVs & EMR, Aalto, May 201136
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to develop the tools for analysing the 3D magnetic field, forces and vibrations at the end windings of electrical machines.
Persons involvedRanran LIN
FundingThe Finnish Technology Award Foundation,TKK
- End-winding fields, forces and vibrations -
HEVs & EMR, Aalto, May 201137
«« Introduction to unit Introduction to unit HEVsHEVs & EMR & EMR »»
Aim – to develop methods for coupling problems of different dimensionalities to be used in the simulations of energy-conversion devices such at electrical machines and actuators
Persons involvedAnouar BELAHCENTommi PEUSSA
FundingAcademy of FinlandTKK
-Coupling problems of different dimensionalities In the simulation of energy-conversion devices -
Aalto UniversityFinlandMay 2011
« Energy Management of EVs & HEVs usingEnergetic Macroscopic Representation »
Aalto University
«« IINTRODUCTION TO NTRODUCTION TO UUNIT NIT
EVEVS, S, HEVHEVS AND S AND EMREMR »»
Prof. Alain BOUSCAYROLL2EP, University Lille1, MEGEVH network,
Dr. Anouar BELAHCENDept. of Electrical Engineering, Aalto University,