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EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR AND INVERSION-BASED CONTROL
OF SERIES-PARALLEL HEV WITH EVTraquo
Dr Yuan CHENG Prof Alain BOUSCAYROL Dr Rochdi TRIGUI
Prof Christophe ESPANET Prof Shumei CUI
IEET Harbin Institute of Technology China L2EP University of Lille 1 France
LTE IFSTTAR Lyon France FEMTO-STUniversiteacute de Franche-Comteacute France
MEGEVH French Network on HEVs France
chengyuanhiteducn
EMRrsquo11 Lausanne July 2011 2
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Outline -
1 Introduction
bull MEGEVH-EVT Project
bull Series-Parallel HEV
bull PM-EVT Design
2 EMR and Inversion-based Control
bull EMR Modeling
bull Inversion-based Control
bull Simulation Results
3 Conclusion
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo Introduction raquo
EMRrsquo11 Lausanne July 2011 4
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- MEGEVH-EVT -
MEGEVH-EVT Project
Objectives
To develop a series-parallel hybrid electric vehicle (SP-HEV) using the EVT concept
To compare the EVT-HEV with Toyota Prius II in terms of fuel economy limits etc
Development of a collaboration between France and China
EVT
EMRrsquo11 Lausanne July 2011 5
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
MG2
PG ICE
MG1
INV1
INV2
Veh
BAT ΩICE=k1ΩMG1+ k2ΩMG2
ΩMG2= ktvveh ΩMG1
ΩICE ΩMG2
vveh
Ring
Carrier
Sun
Series-Parallel HEV
-- Toyota Prius
ΩMG1
ΩMG2
ΩICE
- Series-Parallel HEV -
[Miller 06]
EMRrsquo11 Lausanne July 2011 6
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
Veh
ICE
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator
OR
IR
BAT
EVT functions
bull CVT
bull Starter
bull Generator
bull Clutch
[Hoeijmakers 06]
EVT consists of
bull EM1 with 2 rotors
bull EM2
Electric Variable Transmission (EVT)
EMRrsquo11 Lausanne July 2011 7
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
INV1 INV2
EM1 EM2
Shaft 2 Shaft 1
Twh
Ωwh
ICE
Veh
TICE
ΩICE
BAT
Stator
Outer Rotor
Inner Rotor
~
=
=
~
Battery
+ minus
Stator
Outer Rotor
Inner Rotor
Primary
shaft
Secondary
shaft
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
Stator OR IR
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 2
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Outline -
1 Introduction
bull MEGEVH-EVT Project
bull Series-Parallel HEV
bull PM-EVT Design
2 EMR and Inversion-based Control
bull EMR Modeling
bull Inversion-based Control
bull Simulation Results
3 Conclusion
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo Introduction raquo
EMRrsquo11 Lausanne July 2011 4
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- MEGEVH-EVT -
MEGEVH-EVT Project
Objectives
To develop a series-parallel hybrid electric vehicle (SP-HEV) using the EVT concept
To compare the EVT-HEV with Toyota Prius II in terms of fuel economy limits etc
Development of a collaboration between France and China
EVT
EMRrsquo11 Lausanne July 2011 5
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
MG2
PG ICE
MG1
INV1
INV2
Veh
BAT ΩICE=k1ΩMG1+ k2ΩMG2
ΩMG2= ktvveh ΩMG1
ΩICE ΩMG2
vveh
Ring
Carrier
Sun
Series-Parallel HEV
-- Toyota Prius
ΩMG1
ΩMG2
ΩICE
- Series-Parallel HEV -
[Miller 06]
EMRrsquo11 Lausanne July 2011 6
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
Veh
ICE
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator
OR
IR
BAT
EVT functions
bull CVT
bull Starter
bull Generator
bull Clutch
[Hoeijmakers 06]
EVT consists of
bull EM1 with 2 rotors
bull EM2
Electric Variable Transmission (EVT)
EMRrsquo11 Lausanne July 2011 7
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
INV1 INV2
EM1 EM2
Shaft 2 Shaft 1
Twh
Ωwh
ICE
Veh
TICE
ΩICE
BAT
Stator
Outer Rotor
Inner Rotor
~
=
=
~
Battery
+ minus
Stator
Outer Rotor
Inner Rotor
Primary
shaft
Secondary
shaft
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
Stator OR IR
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo Introduction raquo
EMRrsquo11 Lausanne July 2011 4
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- MEGEVH-EVT -
MEGEVH-EVT Project
Objectives
To develop a series-parallel hybrid electric vehicle (SP-HEV) using the EVT concept
To compare the EVT-HEV with Toyota Prius II in terms of fuel economy limits etc
Development of a collaboration between France and China
EVT
EMRrsquo11 Lausanne July 2011 5
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
MG2
PG ICE
MG1
INV1
INV2
Veh
BAT ΩICE=k1ΩMG1+ k2ΩMG2
ΩMG2= ktvveh ΩMG1
ΩICE ΩMG2
vveh
Ring
Carrier
Sun
Series-Parallel HEV
-- Toyota Prius
ΩMG1
ΩMG2
ΩICE
- Series-Parallel HEV -
[Miller 06]
EMRrsquo11 Lausanne July 2011 6
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
Veh
ICE
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator
OR
IR
BAT
EVT functions
bull CVT
bull Starter
bull Generator
bull Clutch
[Hoeijmakers 06]
EVT consists of
bull EM1 with 2 rotors
bull EM2
Electric Variable Transmission (EVT)
EMRrsquo11 Lausanne July 2011 7
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
INV1 INV2
EM1 EM2
Shaft 2 Shaft 1
Twh
Ωwh
ICE
Veh
TICE
ΩICE
BAT
Stator
Outer Rotor
Inner Rotor
~
=
=
~
Battery
+ minus
Stator
Outer Rotor
Inner Rotor
Primary
shaft
Secondary
shaft
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
Stator OR IR
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 4
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- MEGEVH-EVT -
MEGEVH-EVT Project
Objectives
To develop a series-parallel hybrid electric vehicle (SP-HEV) using the EVT concept
To compare the EVT-HEV with Toyota Prius II in terms of fuel economy limits etc
Development of a collaboration between France and China
EVT
EMRrsquo11 Lausanne July 2011 5
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
MG2
PG ICE
MG1
INV1
INV2
Veh
BAT ΩICE=k1ΩMG1+ k2ΩMG2
ΩMG2= ktvveh ΩMG1
ΩICE ΩMG2
vveh
Ring
Carrier
Sun
Series-Parallel HEV
-- Toyota Prius
ΩMG1
ΩMG2
ΩICE
- Series-Parallel HEV -
[Miller 06]
EMRrsquo11 Lausanne July 2011 6
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
Veh
ICE
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator
OR
IR
BAT
EVT functions
bull CVT
bull Starter
bull Generator
bull Clutch
[Hoeijmakers 06]
EVT consists of
bull EM1 with 2 rotors
bull EM2
Electric Variable Transmission (EVT)
EMRrsquo11 Lausanne July 2011 7
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
INV1 INV2
EM1 EM2
Shaft 2 Shaft 1
Twh
Ωwh
ICE
Veh
TICE
ΩICE
BAT
Stator
Outer Rotor
Inner Rotor
~
=
=
~
Battery
+ minus
Stator
Outer Rotor
Inner Rotor
Primary
shaft
Secondary
shaft
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
Stator OR IR
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 5
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
MG2
PG ICE
MG1
INV1
INV2
Veh
BAT ΩICE=k1ΩMG1+ k2ΩMG2
ΩMG2= ktvveh ΩMG1
ΩICE ΩMG2
vveh
Ring
Carrier
Sun
Series-Parallel HEV
-- Toyota Prius
ΩMG1
ΩMG2
ΩICE
- Series-Parallel HEV -
[Miller 06]
EMRrsquo11 Lausanne July 2011 6
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
Veh
ICE
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator
OR
IR
BAT
EVT functions
bull CVT
bull Starter
bull Generator
bull Clutch
[Hoeijmakers 06]
EVT consists of
bull EM1 with 2 rotors
bull EM2
Electric Variable Transmission (EVT)
EMRrsquo11 Lausanne July 2011 7
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
INV1 INV2
EM1 EM2
Shaft 2 Shaft 1
Twh
Ωwh
ICE
Veh
TICE
ΩICE
BAT
Stator
Outer Rotor
Inner Rotor
~
=
=
~
Battery
+ minus
Stator
Outer Rotor
Inner Rotor
Primary
shaft
Secondary
shaft
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
Stator OR IR
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 6
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
Veh
ICE
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator
OR
IR
BAT
EVT functions
bull CVT
bull Starter
bull Generator
bull Clutch
[Hoeijmakers 06]
EVT consists of
bull EM1 with 2 rotors
bull EM2
Electric Variable Transmission (EVT)
EMRrsquo11 Lausanne July 2011 7
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
INV1 INV2
EM1 EM2
Shaft 2 Shaft 1
Twh
Ωwh
ICE
Veh
TICE
ΩICE
BAT
Stator
Outer Rotor
Inner Rotor
~
=
=
~
Battery
+ minus
Stator
Outer Rotor
Inner Rotor
Primary
shaft
Secondary
shaft
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
Stator OR IR
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 7
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Series-Parallel HEV
-- EVT
- Series-Parallel HEV -
INV1 INV2
EM1 EM2
Shaft 2 Shaft 1
Twh
Ωwh
ICE
Veh
TICE
ΩICE
BAT
Stator
Outer Rotor
Inner Rotor
~
=
=
~
Battery
+ minus
Stator
Outer Rotor
Inner Rotor
Primary
shaft
Secondary
shaft
W
W
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
Stator OR IR
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 8
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Prius simulation
4 driving cycles Max Acc Highway
Urban Road
ICE
W
W
PM+PM Veh
ΩEM1= Ωwh - ΩICE
TEM1= TICE
ΩEM2= Ωwh
TEM2= Twh - TICE
EM1
EM2
0 1000 2000 3000 4000 5000 6000 7000-400
-300
-200
-100
0
100
200
300
400EM2 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
-3000 -2000 -1000 0 1000 2000 3000 4000-40
-20
0
20
40
60
80
100
120EM1 torque-speed characteristics
speed(rpm)
torq
ue
(Nm
)
Trat=120Nm Prat= 25kW
Trat=100Nm
Prat= 21kW
Tmax=380 Nm
Pmax=48kW
EVT steady-state model
Tmax=120Nm Pmax= 25kW
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
- PM-EVT Design -
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 9
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
1st Design
is1_dq _ref
vdc
ΩEM
2
TEM
1
TEM
1 ΩEM2
Ttot
ΩEM1
iinv
vdc
us2
iinv2 ms2_ref
ms1_ref
us1
iinv1
es2_dq is2_dq
vs2_dq is2_dq Tem2
es1_dq is1_dq
vs1_dq is1_dq TEM
1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩIC
E
TICE
TICE_ref
Ftot
ΩEM2
Ttot_ref
Tem1_ref
Tem1_ref
Tem2_ref
vs1_dq _ref
us1_ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq _ref
PWM
ms2_ref
FOC
ΩICE_ref
Tem1_ref
TICE_ref
Fres vhev
vhev
vhev_ref Ftot_ref
vhev_mea
Mechanical
coupling
DC bus Parallel
Connection
Inverters
θds2
PMSM machines Trans
Wheels
Environ Chassis
vdc
BAT ICE
MS
Rated voltage
Resistance per phase
Inductances (Ld=Lq)
PM flux linkage
220 V 220 V
115 mΩ 118 mΩ
264 mH 0654 mH
053Wb 043Wb
Specifications
Definition
Slotless Design Slots amp Windings Parameters for
Control
bull Prius simulation
bull EVT static model
bull Eqs amp constrains
bull Magnetic interference
analysis
bull Back EMF
bull Ampere turns
bull Slot amp winding
bull EMR Modeling
bull Compare with Prius
EMR Modeling
EM1 EM2
[Cheng 10]
- PM-EVT Design -
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo EMR Modeling and
Inversion-based Controlraquo
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 11
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM2
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
21
iablecommon var
invinvinv
dc
iii
v
222
22
111
11
ssinv
dcss
ssinv
dcss
imi
vmu
imi
vmu
BAT
[Cheng 08] [Chen 08]
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 12
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
qsdr
r
rspem
dqssdqsdqsdqss
dqssds
ssddqs
iL
MnT
iRevidt
dL
iTi
uTv
_1_1
1
111
_11_1_1_11
_1
1
11
11_1
)]([
)]([
BAT
TEM2
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 13
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- EMR Modeling -
vdc
DC bus Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
TICE
ICE
TICE_ref
T l i inv
Split EVT
EM1
Stator1 Ω ICE
T EM2
Ω EM2
T EM1
i inv2
v dc
Rotor1 T ICE
i inv1
B AT Fuel tank ICE Trans
VSI 2
VSI 1
T EM1
Rotor2
Stator2
Spl it EVT
EM 2
BAT
ΩICE
TEM2
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 14
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
TEM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
TEM2
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds1
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
ICEEMEM
EMT
21
1 iablecommon var
- EMR Modeling -
BAT TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
2
21
iablecommon var
EM
EMEMtot TTT
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 15
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Mechanical
coupling
Tl iinv
Split EVT
EM1
Stator1 ΩICE
TEM2
ΩEM2
T EM1
iinv2
vdc
Rotor1 TICE
iinv1
BAT Fuel tank ICE Trans
VSI 2
VSI 1
TEM1
2 Rotor2
Stator2
Split EVT
EM2
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
- EMR Modeling -
restotveh FFvdt
dM
)sin(
2
1
)cos(
2
MgF
vCSF
MgfF
slope
evxfrontairair
tf
slopeFFFF airfres BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 16
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
TICE_ref
5 tuning variables ms1 _ref ms2_ref and TICE_ref
for - 1 objective vhev
- 2 constraints flux of both machines
- 2 degrees of freedom
(TICE_ref and ΩICE_ref)
ΩICE
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 17
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM
TICE_ref
ms1_ref
us1
θds2
TEM1_ref
TEM1_ref
ΩICE_ref
TEM1_ref
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 18
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
vs1_dq _ref
is1_dq_ref
us1 _ref
FOC PWM is1_dq_ref
ms1_ref
Ttot_ref
TEM1_ref
TEM1_ref
TEM2_ref
vs1_dq _ref
FOC PWM
us2_ref
vs2_dq _ref
is2_dq_ref
PWM
ms2_ref
FOC
ΩICE_ref
TEM1_ref
TICE_ref
vveh_ref Ftot_ref
vveh_mea
Mechanical
coupling
vdc
DC bus
ΩEM1
Parallel
connection
iinv
vdc
vdc
us2
Inverters
iinv2 ms2_ref
ms1_ref
us1 iinv1
θds2
es2_dq is2_dq
vs2_dq is2_dq
PMSM machines
es1_dq is1_dq
vs1_dq is1_dq TEM1
is2
is1
θds2
Shaft of ICE
ΩICE
ΩICE TICE
ICE
TICE_ref
Ftot
Trans
Wheels
Fres
MS
Environ Chassis
vveh
vveh
BAT
TEM2
TEM1
TEM1 ΩEM2
ΩEM2
ΩEM2 Ttot
- Inversion-based Control -
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 summer school Lausanne July 2011 19
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
Ttrans
vhev
Ftrans
w
wheels
Ft_refFtrans_ref
inversion of force coupling
T1_ref
Tt_ref
T2_ref
inversion of Mechanical coupling_2
T1_ref1
T1_ref11
T1_ref12
inversion of Mechanical coupling_1
w 1_mes1
w 1_ref1
Tice_est
T1_ref
controller of velocity2
vvh_mes1
vvh_ref1
Ftot_ref
controller of velocity
F_tot
F_res
v_ve
Vitesse
chassis
Scopes
Tt
W
Ttran
Wt
Reduction gear
Tice
Tem1
w 1
w ice
Primary shaft
PWM2
Uc_mes
U_ref 1
m_ref 1
PWM1
T1
T2
w 2
Tt
w 21
w 22
Mechanical coupling_2
Tem1
w 1
w 2
T1
T11
w 2-w 1
Mechanical coupling_1
u_bat
ms_2
is_EM2
us_EM2
i_inv2
Inverter2
u_bat
ms_1
is_EM1
us_EM1
i_inv1
Inverter1
Inversion of wheelsInversion of Reduction gear
alpha
WiceTiceMS
ICE
Ftract
vve2
Ftot
vve
Force coupling
V_veh F_resMS
Environ
u_pe
i_inv2
i_inv1
u_pe1
u_pe2
i_inv
Electrical coupling
is2_mes
w2_mes
Tem2_ref
u2_ref CV
EM2 Controller
us_EM2
w 2
Tem2
is_EM2
EM2
is1_mes
w2-w1_mes
Tem1_ref
u1_ref CV
EM1 Controller
us_EM1
w 2-w 1
Tem1
is_EM1
EM1
Driver
u_bat
i_pe
u_pe
i_t
DCDC
WICE_ref
TICE_ref
Control Strategy
WICE_mes
TICE_ref
alpha_ref
CommandeICE
I_t u_batES
Batteries
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 summer school Lausanne July 2011 20
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Simulation amp Results -
0 200 400 600 800 1000 12000
50
100
150Vehicle Speed(kmh)
Time(s)
0 200 400 600 800 1000 12000
25
50ICE Power(kW)
Time(s)
0 200 400 600 800 1000 1200-20
0
20EM1 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-50
-25
0
25
50EM2 Power(kW)
Time(s)
0 200 400 600 800 1000 1200-40
-20
0
20
40Battery Power(kW)
Time(s)
0 200 400 600 800 1000 120060
80
100SOC()
Time(s)
0 200 400 600 800 1000 1200-2000
0
2000
4000EM1 Speed(rpm)
Time(s)
0 200 400 600 800 1000 12000
2000
4000
6000EM2 Speed(rpm)
Time(s)
0 200 400 600 800 1000 1200-100
-50
0
50EM1 id current(A)
Time(s)
0 200 400 600 800 1000 1200-500
-250
0
250EM2 id current(A)
Time(s)
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 summer school Lausanne July 2011 21
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- Conclusion -
EVT is a highly integrated series-parallel HEV powertrain which optimizes
power flows in an electromechanical way rather than in a mechanical way
PM-EVT has been widely studied because of higher efficiency and torque
density A PM-EVT has been designed based on the parameters of Toyota
Prius II and for future comparison
EMR is used in the modeling and simulation which makes the power flows
clear and the design and tuning jobs of the controllers easier
Future work includes
PM-EVT optimization
Energy management strategy
Detailed comparison with Prius II Veh
ICE
W
W PM
W EM2
EM1
TICE
ΩICE
Twh
Ωwh
INV1 INV2
Stator OR
IR
+ _
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 summer school Lausanne July 2011 22
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
Power Machine EM1 machine EM2 Machine Load Machine
dSPACE
System
- Conclusion -
Thank you
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11
Lausanne
July 2011
Joint Summer School EMRrsquo11
ldquoEnergetic Macroscopic Representationrdquo
laquo REFERENCES raquo
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6
EMRrsquo11 Lausanne July 2011 24
laquo EMR and Inversion-based Control of Series-Parallel HEV with EVTraquo
- References -
[Miller 06] JM Miller ldquoHybrid electric vehicle propulsion system architectures of the e-CVT typerdquo IEEE Trans Power Electron vol 21 no 3 pp 756-767 May 2006
[Hoeijmakers 06] MJ Hoeijmakers and JA Ferreira ldquoThe electric variable transmissionrdquo IEEE Trans Ind Appl vol 42 no 4 pp 1092-1093 JulAug 2006
[Cheng 10] Y Cheng C Espanet R Trigui A Bouscayrol and S Cui ldquoDesign of a permanent magnet
electric variable transmission for HEV applicationsrdquo in Proc IEEE VPPC 2010 pp 1ndash5
[Cheng 08] Y Cheng K Chen CC Chan A Bouscayrol and S Cui ldquoGlobal modeling and control strategy simulation for a hybrid electric vehicle using electrical variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash5
[Chen 08] K Chen Y Cheng A Bouscayrol CC Chan A Berthon and S Cui ldquoInversion-based control of a hybrid electric vehicle using a split electric variable transmissionrdquo in Proc IEEE VPPC 2008 pp 1ndash6