presentation based on the phd of t. letrouvé (2013) ontrol...
TRANSCRIPT
HIL’16 summer school
Lille, 1-2 September 2016
http://l2ep.univ-lille1.fr/hil2016/
http://www.megevh.org/
« CONTROL STRUCTURE FROM THE SIMULATION TO THE
PROTOTYPE OF A DOUBLE PARALLEL HEV USING
ENERGETIC MACROSCOPIC REPRESENTATION »
Dr. T. Letrouvé1,2, Dr. Walter Lhomme1
Pr. A. Bouscayrol1, Dr. N. Dollinger2
1University of Lille 1, L2EP 2PSA Peugeot-Citroën [email protected]
http://www.megevh.org/
Presentation based on the PhD of T. Letrouvé (2013)
MEGEVH
2
PMSM 10 kW HV battery
PMSM 20 kW
3008 HY4
How to organize
the control and
manage the energy?
MEGEVH
3
Modelling
Simulation
Control 1
Control 2
Prototype
Industrial
approach
How to structure
and systematize
the control?
Structural simulation tools
• Dymola
• AMEsim
• SimDriveline
• AUTONOMIE
• ADVISOR
Heuristic control based
on the expertise that
needs a significant
development time
MEGEVH
4
Modelling
Simulation
Control 1
Control 2
Prototype
Modelling
Simulation
Prototype
Representation
HIL simulation
Systematic control
Industrial
approach
MEGEVH
approach
Objective: to structure the control steps of a complex vehicle (structuration level, progressive validations, implementation)
MEGEVH
5
2. Power HIL simulation of the HYbrid4
3. Experimentation on a HYbrid4 prototype
Modelling
Simulation
Prototype
Representation
HIL simulation
Systematic control
MEGEVH
approach
1. EMR and control of the HYbrid4
Summer School
HIL’16
Lille
Sept. 16 http://www.megevh.org/
Modelling
Prototype
HIL simulation
Systematic control
Representation
Simulation
1. EMR and control of the HYbrid4
MEGEVH
7
Iem
Vbat-HT
Idcdc-HV Vbat-HV
Vbat-LV Idcdc-LV
DC
DC
PHV-LVref Env.
vveh
vveh Ftot
Fres
Brake vveh
Fbrake
Fbrake-ref
ED
f
Ted-f
Belt Ted-f-ref
vveh
Fwh-f Front drivetrain
Pcl kgear
vveh
Ftract Tf
Ωcl
Bat.HV
Ibat-HV
Vbat-HV
EM
b
Ted-b
Ωed-b Ted-b-ref
Fwh-b
vveh
Back drivetrain
Pdog
Vbat-HV
Ied-b
Vbat-HV
Ied-f
ICE
Ωice Tice
Ωice Tice-ref
Ωstart
Tstart
LV network
EMR points out the:
- energetic flows
- key variables for the control
Ibat-HV
Vbat-HV
Bat.HV
Ied-b
Vbat-HV
Vbat-HV
Ied-tot Vbat-HT
Ied-f
Mth.
Tf
2
4
1
3
2
4
1
3
ED
b
ED
f
TICE
Ted-b
Ωed-b
Ted-f
Ωcl
Ted-b
Ωed-b
Ted-b
Ωed-b Tdog2
Ωed-b Tdog
Ωgear
Tdog
Ωgear Tdog
Ωgear
Tgear
Ωwh-b
Fwh-b
vveh
vveh
Fwh-f
Ωwh-f
Tgear 3
4
1
2
3
4
1
2
Tf
Ωcl
Tf
Ωcl Tcl2
Ωcl Tcl
Ωgear
Tcl
Ωbv Tcl
Ωgear
Belt Ted-f-ref
Ted-b-ref
pcl
Pdog
kgear
Env.
vveh
vveh Ftot
Fres vveh
Ftract
Brake
vveh
Fbrake
Fbrake-ref
Idcdc-HV
Vbat-HV
Vbat-LV
Idcdc-LV
DC
DC
PHV-LV-ref
ICE
Tspring
ΩICE
ΩICE
TICE-ref
Ωstart
Tstart
Ichop
Vbat-HV
Sup.LV
Vbat-LV
Ibat-LV
Isup-LV
Vbat-LV
Start
Tstrat-ref
Bat.LV
ΩICE
MEGEVH
8
Ied
Vbat-HV
Idcdc-HV Vbat-HV
Vbat-LV Idcdc-LV
DC
DC
PHV-LV-ref Env.
vveh
vveh Ftot
Fres
Brake vveh
Fbrake
Fbrake-ref
ED
f
Ted-f
Belt Ted-f-ref
vveh
Fwh-f Front drivetrain
Pcl kgear
vveh
Ftract Tf
Ωcl
Bat.HV
Ibat-HV
Vbat-HV
ED
b
Ted-b
Ωed-b Ted-b-ref
Fwh-b
vveh
Back drivetrain
Pdog
Vbat-HV
Ied-b
Vbat-HT
Imelav
ICE.
ΩICE TICE
ΩICE TICE-ref
Ωstart
Tstart
LV network
kd-tract-brake-ref kd-f-b-ref
Ωed_open
ΩICE_open
kd-f-ICE-ref
Strategy
Ftract-ref Ftot-ref
vveh-ref
Fwh-f-ref
Fwh-b-ref
Ted-f-ref
TICE-ref
Back drivetrain
control
Ted-b-ref
Front drivetrain
control Tf-ref
MEGEVH
9
Ibat-BT-ref
Vbat-HT
Imel-ar
Vbat-HT
ICE
Cmth
Ibat-HT
Vbat-HT
Cav
2
4
1
3
2
4
1
3
MEL
ar
MEL
av
Vbat-HT
Imel-tot
Cressort
Ωmth
Ωmth Cmth
Ωmth
Vbat-HT
Imel-av
Cmel-ar
Ωmel-ar
Cmel-av
Ωemb
Cmel-ar
Ωmel-ar
Cmel-ar
Ωmel-ar Ccrab2
Ωmel-ar Ccrab
Ωred
Ccrab
Ωred Ccrab
Ωred
Cred
Ωroue-ar
Froue-ar
vveh
vveh
Froue-av
Ωroue-av
Cbv 3
4
1
2
3
4
1
2
Cav
Ωemb
Cav
Ωemb Cemb2
Ωemb Cemb
Ωbv
Cemb
Ωbv Cemb
Ωbv
P/C
Cmth-ref
Cmelav-ref
Cmelar-ref
pemb
Pcrab
Kbv
Bat.HV
Cmth-ref
Cmelav-ref
Cmelar-ref
1
3
2
4
1
2
3
4
vveh-ref
Strategy
Ftract-ref Froue-av-ref
Froue-ar-ref Cred-ref
Cbv-ref Cemb-ref
Ccrab-ref
Ccrab-ref Cmel-ar-ref
Cav-ref Cemb-ref
Ωmth-emb_open
Ωmelar-crab_open
Cav-ref
Cav-ref
krep-av-ar krep-melav-mth
Env.
vveh
vveh Ftot
Fres vveh
Ftract
Brake
vveh
Ffreins
Ffreins-ref
Ftot-ref
Idcdc-HT
Vbat-HT
Vbat-BT
Idcdc-BT
DC
DC
PHT-BT-ref
Ωdem
Cdem
Ihach
Vbat-HT
Sup. LV
Vbat-BT
Ibat-BT
Ich-BT
Vbat-BT
Dem
Cdem-ref
Bat.LV
Idcdc-BT-ref
Summer School
HIL’16
Lille
Sept. 16 http://www.megevh.org/
2. Power HIL Simulation of the HYbrid4
Modelling
Simulation
Prototype
Representation
HIL simulation
Systematic control
MEGEVH
11
Emulation
Simulation
Prototype
Reduced-scale P-HIL
simulation
Full-scale P-HIL
simulation
Available platform:
1.5 kW (DCM & IM)
Objectives:
• validation of the portability
in real-time of the defined
systematic control
• preparation for the full-scale
P-HIL simulation
eV Platform
Specific platform:
10 kW – 20 kW (PMSM)
Objectives:
• validation of the real
subsystems (electric drives)
on a platform dedicated as
close as possible to the
vehicle environment
• Study of the limitations
and fault-tolerant modes
eV Platform
MEGEVH
12
PMSM 10 kW HV battery
PMSM 20 kW
emulated by
supercapacitors
emulated by an
IM of 20 kW
SM
20kW
IM
20kW
emulated by a
DCM of 10 kW
SM
10kW DCM
10kW
MEGEVH
13
Vbat-HT
Imel
Tmel-av-ref
ED
f Tmel-av
ED
b
Tmel-ar
Ωmel-ar Tmelar-ref
Vbat-HT
Imelar
Vbat-HT
Imelav Idcdc-
HT Vbat-
HT Env. vveh
vveh Ftot
Fres
Brake vveh
Ffreins
vveh
Froue-av Front drivetrain
vveh
Ftract Tav
Ωemb
Bat.HV Ibat-HT
Vbat-
HT
Froue-ar
vveh
Back drivetrain
ICE
Tmth
Ωmth
Ftot-ref
vveh-ref
Tmel-av-ref
Tmth-ref
Ffreins-ref Pemb kbv Pcrab
krep-tract-freins-ref
krep-av-ar-ref
Ωmel_open
Ωmth_open
krep-av-mth-ref
Strategy
Ftract-ref Froue-av-ref
Froue-ar-ref Back drivetrain
control Tmel-ar-ref
Front drivetrain
control Tav-ref
DCDC
MEGEVH
14
Vbat-HT
Imel
Tmel-av-ref
ED
f Tmel-av
ED
b
Tmel-ar
Ωmel-ar Tmelar-ref
Vbat-HT
Imelar
Vbat-HT
Imelav
Env. vveh
vveh Ftot
Fres
Brake vveh
Ffreins
vveh
Froue-av Front drivetrain
vveh
Ftract Tav
Ωemb
Froue-ar
vveh
Back drivetrain
ICE
Tmth
Ωmth
Ftot-ref
vveh-ref
Cmel-av-ref
Cmth-ref
Ffreins-ref Pemb kbv Pcrab
krep-tract-freins-ref
krep-av-ar-ref
Ωmel_open
Ωmth_open
krep-av-mth-ref
Strategy
Ftract-ref Froue-av-ref
Froue-ar-ref Back drivetrain
control Cmel-ar-ref
Front drivetrain
control Cav-ref
Idcdc-
HT
Vbat-
HT
Bat.HV Ibat-HT
Vbat-
HT
DCDC
Vbat-ref
vscap
iscap
Ωmel-av
Vres
Imel-emul Vres
Vres
Imel-emul-ar
Imel-emul-av
Rés.
Ωmel-av
Ωmel-ar
Tmel-emul-ar
Cmel-emul-av
Tmel-emul-ar_ref
Tmel-emul-av_ref
Iind
Scap
Vbat-HT
HIL platform
Control and HIL simulation
MEGEVH
15
Vbat-HT
Imel
Tmel-av-ref
ED
f Tmel-av
ED
b
Tmel-ar
Ωmel-ar Tmelar-ref
Vbat-HT
Imelar
Vbat-HT
Imelav
Env. vveh
vveh Ftot
Fres
Brake vveh
Ffreins
vveh
Froue-av Front drivetrain
vveh
Ftract Tav
Ωemb
Froue-ar
vveh
Back drivetrain
ICE
Tmth
Ωmth
Ftot-ref
vveh-ref
Cmel-av-ref
Cmth-ref
Ffreins-ref Pemb kbv Pcrab
krep-tract-freins-ref
krep-av-ar-ref
Ωmel_open
Ωmth_open
krep-av-mth-ref
Strategy
Ftract-ref Froue-av-ref
Froue-ar-ref Back drivetrain
control Cmel-ar-ref
Front drivetrain
control Cav-ref
Idcdc-
HT
Vbat-
HT
Bat.HV Ibat-HT
Vbat-
HT
DCDC
Vbat-ref
vscap
iscap
Ωmel-av
Vres
Imel-emul Vres
Vres
Imel-emul-ar
Imel-emul-av
Rés.
Ωmel-av
Ωmel-ar
Tmel-emul-ar
Cmel-emul-av
Tmel-emul-ar_ref
Tmel-emul-av_ref
Iind
Scap
Vbat-HT
control to test
models simulated
In real time
machines to test
Interfaces of emulation
MEGEVH
16
MEL
av
Vbat-HT
Imel-av
Cmelav-ref
Mth.
Cmth
Cmth-ref
Cav
Ωmth
Cmel-av
Ωemb
Froue-ar
vveh
vveh
Froue-av
Ωroue-av
Cbv
Cav
Ωemb Cav
Ωemb Cemb2
Ωemb Cemb
Ωbv
Cemb
Ωbv Cemb
Ωbv
P/C
pemb
Kbv
Froue-av-ref Cbv-ref Cemb-ref
Cav-ref Cemb-ref
Ωmth-emb_open Cav-ref Cav-ref
krep-melav-mth
network
Cmel-av
Ωmel-av
Imel-ar
Vbat-HT
MEL
ar Cmel-ar
Ωmel-ar
Cmelar-ref
network
Interface
Cmel-ar
Ωmel-ar Cmel-ar
Ωmel-ar Ccrab2
Ωmel-ar Ccrab
Ωred
Ccrab
Ωred Ccrab
Ωred
Cred
Ωroue-ar
Pcrab
Cmel-ar
Ωmel-ar
Cred-ref Ccrab-ref
Ccrab-ref Cmel-ar-ref
Ωmelar-crab_open
DC/DC
Bat.HT
Ibat-HT
Vbat-HT Vbat-HT
Imel-tot
Idcdc-HT
Vbat-HT
Vbus
Imel-tot
Vbus
Ihach
Isc
Vsc
Vhach
Isc
Scaps
Ωmel-av Imel-émul
Cmel-émul Vnet Ωmel-av Imel-émul
Cmel-émul Vnet
Interface
Interface
vveh-ref
Ftract-ref
Froue-ar-ref
krep-av-ar
Env. vveh
vveh Ftot
Fres
vveh
Ftract
Freins vveh
Ffreins
Ffreins-ref
Ftot-ref
krep-tract-freins
Stratégie
MEGEVH
17
SoC HV Battery (%)
ICE consumption (ml)
Battery voltage (V)
Back EM speed (rad/s)
Front EM speed (rad/s)
Gear engaged
Back EM torque (Nm)
Front EM torque (Nm)
ICE torque (Nm)
Summer School
HIL’16
Lille
Sept. 16 http://www.megevh.org/
3. Experimentation on a HYbrid4 prototype
Modelling
Simulation
Prototype
Representation
HIL simulation
Systematic control
MEGEVH
19
DC/DC
Ibat-HT
Vbat-HT
Idcdc-HT
Vbat-HT
Bat.HV
Imel-ar
Vbat-HT
ICE
Tav
2
4
1
3
2
4
1
3
ED
b
ED
f
Vbat-HT
Imel-tot
Ωmth
Tmth
Vbat-HT
Imel-av
Tmel-ar
Ωmel-ar
Tmel-av
Ωemb
Tmel-ar
Ωmel-ar
Tmel-ar
Ωmel-ar Tcrab2
Ωmel-ar Tcrab
Ωred
Tcrab
Ωred Tcrab
Ωred
Tred
Ωroue-ar
Froue-ar
vveh
vveh
Froue-av
Ωroue-av
Tbv 3
4
1
2
3
4
1
2
Tav
Ωemb
Tav
Ωemb Temb2
Ωemb Temb
Ωbv
Temb
Ωbv Temb
Ωbv
P/C
Tmth-ref
Tmelav-ref
Tmelar-ref
pemb
Pcrab
Kbv
Env.
vveh
vveh Ftot
Fres vveh
Ftract
Brake
vveh
Ffreins
Ffreins-ref
Cmth-ref
Cmelav-ref
Cmelar-ref 13
24
1
2
3
4
vveh-ref
Ftract-ref Froue-av-ref
Froue-ar-ref Cred-ref
Cbv-ref Cemb-ref
Ccrab-ref
Ccrab-ref Cmel-ar-ref
Cav-ref Cemb-ref
Ωmth-emb_open
Ωmelar-crab_open
Cav-ref
Cav-ref
krep-av-ar krep-melav-mth
Ftot-ref
Ffreins-ref
Driver
Strategy PTMU
Strategy
PTMU dSPACE
µAutobox
Cmth-ref
Cmelav-ref
Cmelar-ref 13
24
1
2
3
4
Strategy
Ftract-ref Froue-av-ref
Froue-ar-ref Cred-ref
Cbv-ref Cemb-ref
Ccrab-ref
Ccrab-ref Cmel-ar-ref
Cav-ref Cemb-ref
Ωmth-emb_open
Ωmelar-crab_open
Cav-ref
Cav-ref
krep-av-ar krep-melav-mth
Ftot-ref
Ffreins-ref
Driver
Strategy PTMU
MEGEVH
20
144 146 148 150 152 154 156
26.2
26.3
26.4
26.5
26.6
Etat de charge de la batterie Haute Tension [%] Simulation temps réel : HIL
Essai sur Prototype
Simulation sur ordinateur
HIL dynamics closer than simulation that uses a static modelling -> Advantage of the HIL platform: open platform
Modelling complexity of the “critical” components (eg. HV battery) -> Use of the real component into a power HIL simulation
Power HIL simulation
Prototype Simulation
Current of the HV battery (A)
SoC of the HV battery (%)
21.8 22 22.2 22.4 22.6 22.8 23 23.2 23.4-100
-80
-60
-40
-20
0
Courant de la batterie Haute tension [A]
Simulation temps réel : HIL
Essai sur Prototype
Simulation sur ordinateur
Courant de la batterie Haute tension [A]
144 146 148 150 152 154 156
26.2
26.3
26.4
26.5
26.6
Etat de charge de la batterie Haute Tension [%] Simulation temps réel : HIL
Essai sur Prototype
Simulation sur ordinateur
Summer School
HIL’16
Lille
Sept. 16 http://www.megevh.org/
Modelling
Simulation
Prototype
Representation
HIL simulation
Systematic control
MEGEVH
22
Modelling
Simulation
Prototype
Representation
HIL simulation
Systematic control
HIL simulation • Validation of the control and the subsystems on a dedicated platform (reduced-scale or/and full-scale)
Interest: • progressive validation method • same inversion-based control used
from the simulation to the prototype • direct implementation of the
control (no back-and-forth)
The EMR formalism as structuration and articulation
tool of the different parts
MEGEVH
23
[Letrouvé 09a] T. Letrouvé, P. Delarue, A. Bouscayrol, “Modelling and control of a double parallel hybrid electric vehicle using Energetic Macroscopic Representation”, Electromotion’09, Lille, France, July 2009.
[Letrouvé 09b] T. Letrouvé, A. Bouscayrol, W. Lhomme, “Influence of the clutch model in a simulation of a parallel Hybrid Electric Vehicle”, IEEE VPPC’09, Dearborn, USA, September 2009.
[Letrouvé 10] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Different models of a traction drive for an electric vehicle simulation”, IEEE VPPC’10, Lille, France, September 2010.
[Letrouvé 11] T. Letrouvé; A. Bouscayrol; W. Lhomme, N. Dollinger, F. Mercier Calvairac, “Inversion Based Control 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-scale Hardware-In-the-Loop Simulation of a Peugeot 3∞8 HYbrid4 vehicle”, IEEE VPPC’12, Seoul, Korea, October 2012, 3rd Best Paper Award.
[Letrouvé 13a] T. Letrouvé, “Control structure from the simulation to the prototype of a double parallel hybrid vehicle using energetic macroscopic representation” (text in French), PhD thesis, University of Lille 1, March 2013, Industrial agreement with PSA Peugeot Citroën for training through research
[Letrouvé 13b] T. Letrouvé, W. Lhomme, A. Bouscayrol, N. Dollinger, “Control Validation of a Peugeot 3∞8 HYbrid4 vehicle using a reduced-scale Power Hardware-In-the-Loop Simulation”, JEET (Journal of Electrical Engineering and Technology), September 2013
VPPC 2012 Best Paper Prize
Summer School
HIL’16
Lille
Sept. 16 http://www.megevh.org/
Dr. T. Letrouvé1,2, Dr. Walter Lhomme1
Pr. A. Bouscayrol1, Dr. N. Dollinger2
1University of Lille 1, L2EP 2PSA Peugeot-Citroën [email protected]
Presentation based on the PhD of T. Letrouvé (2013)