7/8/2016
1
EMR’16
UdeS - Longueuil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
« EMR and control of an Electric Vehicle
using Hybrid Energy Storage Systems »
Bao-Huy NGUYEN1,2, Dr. Ronan GERMAN2,
Prof. João P. TROVÃO1, Prof. Alain BOUSCAYROL2
1 e-TESC, Université de Sherbrooke, Canada2 L2EP, Université Lille1, MEGEVH network, France
EMR’16, UdeS Longueuil, June 20162
« EMR and control of an EV using H-ESS »
Induction
machine
Gearbox
Voltage source
inverter
Wheel
Chassis
emT
tranF resF
vehv
brT
1
2
313u23u
1i
2iresT
r
DC bus
traci
Ci
chbati
chSCi
L bati
L SCi
Li-ion
Batteries
Supercapacitors
batu
scuchSCu
chbatu
DCu
Chopper
bat
Chopper
SC
toti
L batr
L SCr
batr
SCr
batL
SCL
bat ocvu
SC ocvu
40 V Q 160 Ahbat nom batu
45 V 290 FSC nom SCu C
80 V
bati
SCi
Parallel
connection
P 15 kWnom
- Context and objective -
Studied system: Hybrid energy storage systems (H-ESS) for electric vehicles (EVs)
In an energy
management system:
Limitations (constraints)
play an important role
In the case of
SC-based H-ESS:
Limitations of
the SC voltage
e.g. [Castaings 2016]
Ultimate objective:
Energy
management of
the H-ESS
Objective of
this study:
More focus on
SC branches’
characteristics
and voltage
limitations
7/8/2016
2
EMR’16, UdeS Longueuil, June 20163
« EMR and control of an EV using H-ESS »
Induction
machine
Gearbox
Voltage source
inverter
Wheel
Chassis
emT
tranF resF
vehv
brT
1
2
313u23u
1i
2iresT
r
DC bus
traci
Ci
chbati
chSCi
L bati
L SCi
Li-ion
Batteries
Supercapacitors
batu
scuchSCu
chbatu
DCu
Chopper
bat
Chopper
SC
toti
L batr
L SCr
batr
SCr
batL
SCL
bat ocvu
SC ocvu
40 V Q 160 Ahbat nom batu
45 V 290 FSC nom SCu C
80 V
bati
SCi
Parallel
connection
P 15 kWnom
- Context and objective -
Studied system: Hybrid energy storage systems (H-ESS) for electric vehicles (EVs)
Objective of
this study:
More focus on
SC branches’
characteristics
and voltage
limitations
All previous works:
Constant voltage limitation
e.g. [Lhomme 2005],
[Trovao 2015]
This work:
Propose a dynamic
voltage limitation method
Ultimate objective:
Energy
management of
the H-ESS
EMR’16, UdeS Longueuil, June 20164
« EMR and control of an EV using H-ESS »
- Content -
1. Modeling and control of the H-ESS using EMR
• Modeling and EMR
• Inversion-based control (IBC)
• Energy management with filtering strategy
2. SC voltage limitation methods
• SC voltage limitation due to unideal DC/DC converter
• Constant limitation
• Proposed dynamic limitation
3. Results and discussions
(Adapted from
[Allègre 2013])
7/8/2016
3
EMR’16
UdeS - Longueuil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
« Modeling and control
of the H-ESS using EMR »
EMR’16, UdeS Longueuil, June 20166
« EMR and control of an EV using H-ESS »
Bat.
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chbatu
L bati
DCu
chbati
DCu
toti DCu
traci
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
Parallel
connection
- Modeling and EMR -
Induction
machine
Gearbox
Voltage source
inverter
Wheel
Chassis
emT
tranF resF
vehv
brT
1
2
313u23u
1i
2iresT
r
DC bus
traci
Ci
chbati
chSCi
L bati
L SCi
Li-ion
Batteries
Supercapacitors
batu
scuchSCu
chbatu
DCu
Chopper
bat
Chopper
SC
toti
L batr
L SCr
batr
SCr
batL
SCL
bat ocvu
SC ocvu
40 V Q 160 Ahbat nom batu
45 V 290 FSC nom SCu C
80 V
bati
SCi
Parallel
connection
P 15 kWnom
EMR: Model organization
7/8/2016
4
EMR’16, UdeS Longueuil, June 20167
« EMR and control of an EV using H-ESS »
- Inversion-based control (IBC) -
EMR: Model organization
IBC: Step-by-step inversionsBat.
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chbatu
L bati
DCu
chbati
DCu
toti DCu
traci
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
Parallel
connection
chbatm
chbatu
L bati chbati
chSCm
chSCu
L SCi chSCi
toti DCu
Define tuning paths
• Tuning paths are defined going from the
control variables (𝑢𝑐ℎ𝑏𝑎𝑡 & 𝑢𝑐ℎ𝑆𝐶) to the
objective variable (𝑢𝐷𝐶)
• The IBC structure is deduced by inversions
of EMR elements along the tuning paths
• Notice: in this case, each chopper is
inverted twice.
EMR’16, UdeS Longueuil, June 20168
« EMR and control of an EV using H-ESS »
- Inversion-based control (IBC) -
Bat.
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chbatu
L bati
DCu
chbati
tot refi
DCu
toti DCu
traci
DC refu chbat refi
chSC refi
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
ek
Parallel
connectionEMR: Model organization
IBC: Step-by-step inversions
• Closed-loop control of DC
bus voltage
• Current distribution by 𝑘𝑒
𝑖𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓 = 𝑘𝑒𝑖𝑡𝑜𝑡−𝑟𝑒𝑓
𝑖𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓 = 1 − 𝑘𝑒 𝑖𝑡𝑜𝑡−𝑟𝑒𝑓
𝑖𝑡𝑜𝑡−𝑟𝑒𝑓 = 𝐶𝑢𝐷𝐶𝑡 𝑢𝐷𝐶−𝑟𝑒𝑓 − 𝑢𝐷𝐶−𝑚𝑒𝑎𝑠 + 𝑖𝑡𝑟𝑎𝑐−𝑚𝑒𝑎𝑠
𝑖𝐶−𝑟𝑒𝑓=𝑖𝑡𝑜𝑡−𝑟𝑒𝑓−𝑖𝑡𝑟𝑎𝑐−𝑚𝑒𝑎𝑠
(1)(2)
(1)
(2)
7/8/2016
5
EMR’16, UdeS Longueuil, June 20169
« EMR and control of an EV using H-ESS »
- Inversion-based control (IBC) -
Bat.
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chbatu
L bati
DCu
chbati
tot refi
DCu
toti DCu
traci
DC refu chbat refi
chSC refi
L bat refi
L SC refi
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
ek
Parallel
connectionEMR: Model organization
IBC: Step-by-step inversions
• Closed-loop control of DC
bus voltage
• Current distribution by 𝑘𝑒
• Choppers inversion
𝑖𝐿−𝑏𝑎𝑡−𝑟𝑒𝑓 =𝑖𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓
𝑚𝑐ℎ𝑏𝑎𝑡
𝑖𝐿−𝑆𝐶−𝑟𝑒𝑓 =𝑖𝑐ℎ𝑆𝐶−𝑟𝑒𝑓
𝑚𝑐ℎ𝑆𝐶
(1)
(2)
(1)
(2)
EMR’16, UdeS Longueuil, June 201610
« EMR and control of an EV using H-ESS »
- Inversion-based control (IBC) -
Bat.
chbat refu
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chSC refu
chbatu
L bati
DCu
chbati
tot refi
DCu
toti DCu
traci
DC refu chbat refi
chSC refi
L bat refi
L SC refi
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
ek
Parallel
connectionEMR: Model organization
IBC: Step-by-step inversions
• Closed-loop control of DC
bus voltage
• Current distribution by 𝑘𝑒
• Choppers inversion
• Closed-loop control of
inductors’ currents
𝑢𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓 = 𝐶𝑖𝐿−𝑏𝑎𝑡𝑡 𝑖𝐿−𝑏𝑎𝑡−𝑟𝑒𝑓 − 𝑖𝐿−𝑏𝑎𝑡−𝑚𝑒𝑎𝑠 + 𝑢𝑏𝑎𝑡−𝑚𝑒𝑎𝑠
𝑢𝐿−𝑏𝑎𝑡−𝑟𝑒𝑓=𝑢𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓−𝑢𝑏𝑎𝑡−𝑚𝑒𝑎𝑠
Similar for SC current controller 𝐶𝑖𝐿−𝑆𝐶(𝑡)
(1)
(2)
(1)
(2)
7/8/2016
6
EMR’16, UdeS Longueuil, June 201611
« EMR and control of an EV using H-ESS »
- Inversion-based control (IBC) -
Bat.
chbat refu
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chSC refu
chbatu
L bati
DCu
chbati
tot refi
DCu
toti DCu
traci
DC refu chbat refi
chSC refi
L bat refi
L SC refi
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
ek
Parallel
connectionEMR: Model organization
IBC: Step-by-step inversions
• Closed-loop control of DC
bus voltage
• Current distribution by 𝑘𝑒
• Choppers inversion
• Closed-loop control of
inductors’ currents
• Choppers inversion
(modulation)
𝑚𝑐ℎ𝑆𝐶 =𝑢𝑐ℎ𝑆𝐶−𝑟𝑒𝑓
𝑢𝐷𝐶
𝑚𝑐ℎ𝑏𝑎𝑡 =𝑢𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓
𝑢𝐷𝐶
(1)
(2)
(1)
(2)
EMR’16, UdeS Longueuil, June 201612
« EMR and control of an EV using H-ESS »
- Energy management with filtering strategy -
Bat.
chbat refu
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chSC refu
chbatu
L bati
DCu
chbati
tot refi
DCu
toti DCu
traci
DC refu chbat refi
chSC refi
L bat refi
L SC refi
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
Strategyek
tot refi
Parallel
connection
Current distribution strategy
• Conventional filtering strategy
tot refi _bat refi
_sc refi
LPF
EMR: Model organization
IBC: Step-by-step inversions
• Closed-loop control of DC
bus voltage
• Current distribution by 𝑘𝑒
• Choppers inversion
• Closed-loop control of
inductors’ currents
• Choppers inversion
(modulation)
7/8/2016
7
EMR’16
UdeS - Longueuil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
« SC voltage limitation methods »
EMR’16, UdeS Longueuil, June 201614
« EMR and control of an EV using H-ESS »
- SC voltage limitation due to unideal DC/DC converter -
1 min1 0 1
out
in
u
u
1
max
out
in
u
u
• Phenomenon: Unstable when SC voltage becomes too low
• Literature: Unideal characteristic of DC/DC boost converter
(since [Cuk 1977])
Stable Unstable
inu
ipr LR
C
outuT
T
In the case of SC-based H-ESS for EV ?Ideal𝑟𝑝 = 0
Unideal𝑟𝑝 ≠ 0
𝑢𝑜𝑢𝑡
𝑢𝑖𝑛 𝑚𝑎𝑥
=1
2𝑟𝑝𝑅
𝑟𝑝: Parasitic resistance
𝑅: Load resistance
𝑢𝑜𝑢𝑡 fixed 𝑢𝐷𝐶
𝑢𝑖𝑛 varies in a wide range 𝑢𝑆𝐶
𝑅 = 𝑅𝑡𝑟𝑎𝑐 depends on the vehicle operation(equivalent traction resistance)
𝑢𝑆𝐶 𝑚𝑖𝑛 = 2𝑢𝐷𝐶
𝑟𝑝
𝑅
7/8/2016
8
EMR’16, UdeS Longueuil, June 201615
« EMR and control of an EV using H-ESS »
- SC voltage limitation due to unideal DC/DC converter -
traci
Ci
chSCi
L SCi
Supercapacitors
scuchSCu
DCuL SCr
SCr
SCL
SC ocvu SCi
Traction
Our studied system
𝑅𝑡𝑟𝑎𝑐 =𝑢𝐷𝐶
𝑖𝑡𝑟𝑎𝑐
𝑢𝑠𝑐−𝑙𝑖𝑚 = 2. 𝑢𝐷𝐶
𝑟𝐿−𝑆𝐶 + 𝑟𝑆𝐶𝑅𝑡𝑟𝑎𝑐
𝑟𝑝 = 𝑟𝐿−𝑆𝐶 + 𝑟𝑆𝐶
Traction part serves as a
current source
Key point:
calculate the traction
(DC bus) current
2 methods
1. Constant limitation with max current calculated
by the max torque of the vehicle (the safest)
Tazzari Zero: 150 Nm 𝑢𝑠𝑐−𝑙𝑖𝑚 = 40 VDC
2. Dynamic limitation calculated by
real-time current measurement
EMR’16, UdeS Longueuil, June 201616
« EMR and control of an EV using H-ESS »
2. Dynamic limitation calculated by
real-time current measurement
- SC voltage limitation methods: constant and dynamic -
Bat.
chbat refu
SC
Inductors Choppers
batu
L bati
chbatm
chSCm
chSC refu
chbatu
L bati
DCu
chbati
tot refi
DCu
toti DCu
traci
DC refu chbat refi
chSC refi
L bat refi
L SC refi
DC bus
capacitor
Tract.
chSCi
DCu
SCu
L SCi
L SCi
chSCu
Strategyek
tot refi
trac estR
Estimation of
the equivalent
traction
resistance
SC measu
Parallel
connection
𝑢𝑠𝑐−𝑙𝑖𝑚 = 2 𝑟𝑝𝑢𝐷𝐶𝑖𝑡𝑟𝑎𝑐
Working
condition
System
parameters
Notice: we don’t need any
more sensor because 𝑢𝐷𝐶 &
𝑖𝑡𝑟𝑎𝑐 are already measured for
control.
7/8/2016
9
EMR’16
UdeS - Longueuil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
« Results and Discussions »
EMR’16, UdeS Longueuil, June 201618
« EMR and control of an EV using H-ESS »
- Simulation setup -
• Implementation in Matlab/Simulink using the EMR library
• Two urban cycles of the New European Driving Cycle (NEDC)
-C-
U_dc_ref
ES
Traction
Subsystem
SuperCaps
current
controller
ES
SuperCaps
R_trac_est
Inductor
SuperCaps
Inductor
Battery
Strategy
HESS management
HESS
Distribution
HESS
Coupling
m_ch2
i_L2_meas
i_L1_meas
i_dc_meas
U_dc_meas
k_HESS
R_trac_est
U_bat_meas
m_ch1
U_sc_meas
i_tot_ref
U_dc_meas
i_dc_meas
i_dc_meas
U_dc_meas
U_dc_meas
i_L2_meas
R_trac_est
U_bat_meas
k_HESS
U_dc_meas
m_ch1
m_ch2
i_L2_meas
i_L1_meas
U_dc_meas
U_sc_meas
i_tot_ref
DC bus
controller
DC bus
Capacitor
Chopper
SuperCaps
Chopper
Battery
ChopSC
volt inv
ChopSC
curr inv
ChopBat
volt inv
ChopBat
curr inv
Battery
current
controller
ES
Battery U_dc
U_dc
U_dc
U_ch1U_ch1
i_L1
U_bat
U_ch2U_ch2
i_L2
U_sc
U_ch1_refU_ch1_ref
U_ch2_refU_ch2_ref
i_ch1_ref
i_ch2_ref
i_ch2_ref
i_L2
i_L1
U_dc
U_dc
i_ch2
i_ch1 i_tot
i_L2_ref
i_L1_ref
Parameter Value
L inductors 0.2 mH
r inductors 10 mΩ
r SC 3.8 mΩ
SC nom. voltage 45 VDC
SC capacitance 290 F
DC bus voltage 80 VDC
Bat. nom. voltage 40 VDC
Rated power 15 kW
Referred vehicle model
Tazzari Zero
7/8/2016
10
EMR’16, UdeS Longueuil, June 201619
« EMR and control of an EV using H-ESS »
- Results -
Traction part evolutions used as the reference
This fluctuated
current will be
shared between
battery and SC
EMR’16, UdeS Longueuil, June 201620
« EMR and control of an EV using H-ESS »
- Results -
This limitation is
the safest
Responses with constant limitation
but not effective
7/8/2016
11
EMR’16, UdeS Longueuil, June 201621
« EMR and control of an EV using H-ESS »
- Results -
Responses with proposed dynamic limitation
SC can be used
more effectively
EMR’16, UdeS Longueuil, June 201622
« EMR and control of an EV using H-ESS »
- Results -
A little more quantitative comparisons
The less time in limitation
The lower battery current
The more extended
battery lifetime
7/8/2016
12
EMR’16
UdeS - Longueuil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
« Conclusion and Perspective »
EMR’16, UdeS Longueuil, June 201624
« EMR and control of an EV using H-ESS »
- Conclusion and Perspective -
This work has been done:
• Modeling and control of the H-ESS-based EV using EMR
• Study on the effects of the unideal of DC/DC converter on the SC-based H-ESS
• Proposed dynamic limitation method for SC voltage improved management performance
Near future works:
• Verifying the effectiveness of the proposed method with different strategies and driving cycles
• Experimental validation
7/8/2016
13
EMR’16, UdeS Longueuil, June 201626
« EMR and control of an EV using H-ESS »
- Authors -
Dr. Ronan GERMAN
Université Lille 1, L2EP, MEGEVH, France
PhD in Electrical Engineering at University of Lyon, France (2013)
Research topics: Energy Storage Systems, EMR, HIL simulation, EVs and HEVs
Bao-Huy NGUYEN
PhD student since 2015
Université Lille 1, L2EP, MEGEVH, France
Université de Sherbrooke, Sherbrooke, QC, Canada
MSc in Electrical Engineering at Hanoi Univ. Sci. Tech., Vietnam (2015)
Research topics: EVs and HEVs, control in power electronics and electrical drives
EMR’16, UdeS Longueuil, June 201627
« EMR and control of an EV using H-ESS »
- Authors -
Prof. Alain BOUSCAYROL
Université Lille 1, L2EP, MEGEVH, France
Coordinator of MEGEVH, French network on HEVs
PhD in Electrical Engineering at University of Toulouse (1995)
Research topics: EMR, HIL simulation, tractions systems, EVs and HEVs
Prof. Joao TROVAO
Université de Sherbrooke, Sherbrooke, QC, Canada
PhD in Electrical Engineering at University of Coimbra, Portugal (2013)
Research topics: EVs, renewable energy, energy management, power quality,
and rotating electrical machines
7/8/2016
14
EMR’16, UdeS Longueuil, June 201628
« EMR and control of an EV using H-ESS »
- References -
[Allègre 2013] A.-L. Allègre, R. Trigui, and A. Bouscayrol, “Flexible real-time control of a hybrid
energy storage system for electric vehicles,” IET Electr. Syst. Transp., vol. 3, no. 3, pp.
79–85, 2013.
[Castaings 2016] A. Castaings, W. Lhomme, R. Trigui, and A. Bouscayrol, “Comparison of
energy management strategies of a battery/supercapacitors system for electric vehicle
under real-time constraints,” Appl. Energy, vol. 163, pp. 190–200, 2016.
[Cuk 1977] S. M. Cuk, “Modelling, Analysis, and Design of Switching Converters,” PhD thesis,
California Institute of Technology, 1977.
[Lhomme 2005] W. Lhomme, P. Delarue, P. Barrade, A. Bouscayrol, and A. Rufer, “Design
and control of a supercapacitor storage system for traction applications,” in Conference
Record - IAS Annual Meeting (IEEE Industry Applications Society), 2005, vol. 3, pp.
2013–2020.
[Trovao 2015] J. P. F. Trovao, V. D. N. Santos, C. H. Antunes, P. G. Pereirinha, and H. M.
Jorge, “A Real-Time Energy Management Architecture for Multisource Electric Vehicles,”
IEEE Trans. Ind. Electron., vol. 62, no. 5, pp. 3223–3233, 2015.
EMR’16
UdeS - Longueuil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
« Thank you for your attention »
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