« LAYOUT OF PRESENTATION OF EMR’13 - EMR...EMR’16 UdeS - Longueuil June 2016 Summer School EMR’16 “Energetic Macroscopic Representation” « EMR and control of an Electric

7/8/2016

1

EMR’16

UdeS - Longueuil

June 2016

Summer School EMR’16

“Energetic Macroscopic Representation”

« EMR and control of an Electric Vehicle

using Hybrid Energy Storage Systems »

Bao-Huy NGUYEN1,2, Dr. Ronan GERMAN2,

Prof. João P. TROVÃO1, Prof. Alain BOUSCAYROL2

1 e-TESC, Université de Sherbrooke, Canada2 L2EP, Université Lille1, MEGEVH network, France

EMR’16, UdeS Longueuil, June 20162

« EMR and control of an EV using H-ESS »

Induction

machine

Gearbox

Voltage source

inverter

Wheel

Chassis

emT

tranF resF

vehv

brT

1

2

313u23u

1i

2iresT

r

DC bus

traci

Ci

chbati

chSCi

L bati

L SCi

Li-ion

Batteries

Supercapacitors

batu

scuchSCu

chbatu

DCu

Chopper

bat

Chopper

SC

toti

L batr

L SCr

batr

SCr

batL

SCL

bat ocvu

SC ocvu

40 V Q 160 Ahbat nom batu

45 V 290 FSC nom SCu C

80 V

bati

SCi

Parallel

connection

P 15 kWnom

- Context and objective -

Studied system: Hybrid energy storage systems (H-ESS) for electric vehicles (EVs)

In an energy

management system:

Limitations (constraints)

play an important role

In the case of

SC-based H-ESS:

Limitations of

the SC voltage

e.g. [Castaings 2016]

Ultimate objective:

Energy

management of

the H-ESS

Objective of

this study:

More focus on

SC branches’

characteristics

and voltage

limitations

7/8/2016

2



Induction

machine

Gearbox

Voltage source

inverter

Wheel

Chassis

emT

tranF resF

vehv

brT

1

2

313u23u

1i

2iresT

r

DC bus

traci

Ci

chbati

chSCi

L bati

L SCi

Li-ion

Batteries

Supercapacitors

batu

scuchSCu

chbatu

DCu

Chopper

bat

Chopper

SC

toti

L batr

L SCr

batr

SCr

batL

SCL

bat ocvu

SC ocvu



80 V

bati

SCi

Parallel

connection

P 15 kWnom

- Context and objective -

Studied system: Hybrid energy storage systems (H-ESS) for electric vehicles (EVs)

Objective of

this study:

More focus on

SC branches’

characteristics

and voltage

limitations

All previous works:

Constant voltage limitation

e.g. [Lhomme 2005],

[Trovao 2015]

This work:

Propose a dynamic

voltage limitation method

Ultimate objective:

Energy

management of

the H-ESS



- Content -

1. Modeling and control of the H-ESS using EMR

• Modeling and EMR

• Inversion-based control (IBC)

• Energy management with filtering strategy

2. SC voltage limitation methods

• SC voltage limitation due to unideal DC/DC converter

• Constant limitation

• Proposed dynamic limitation

3. Results and discussions

(Adapted from

[Allègre 2013])

7/8/2016

3

EMR’16

UdeS - Longueuil

June 2016



« Modeling and control

of the H-ESS using EMR »



Bat.

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chbatu

L bati

DCu

chbati

DCu

toti DCu

traci

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

Parallel

connection

- Modeling and EMR -

Induction

machine

Gearbox

Voltage source

inverter

Wheel

Chassis

emT

tranF resF

vehv

brT

1

2

313u23u

1i

2iresT

r

DC bus

traci

Ci

chbati

chSCi

L bati

L SCi

Li-ion

Batteries

Supercapacitors

batu

scuchSCu

chbatu

DCu

Chopper

bat

Chopper

SC

toti

L batr

L SCr

batr

SCr

batL

SCL

bat ocvu

SC ocvu



80 V

bati

SCi

Parallel

connection

P 15 kWnom

EMR: Model organization

7/8/2016

4



- Inversion-based control (IBC) -


IBC: Step-by-step inversionsBat.

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chbatu

L bati

DCu

chbati

DCu

toti DCu

traci

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

Parallel

connection

chbatm

chbatu

L bati chbati

chSCm

chSCu

L SCi chSCi

toti DCu

Define tuning paths

• Tuning paths are defined going from the

control variables (𝑢𝑐ℎ𝑏𝑎𝑡 & 𝑢𝑐ℎ𝑆𝐶) to the

objective variable (𝑢𝐷𝐶)

• The IBC structure is deduced by inversions

of EMR elements along the tuning paths

• Notice: in this case, each chopper is

inverted twice.




Bat.

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chbatu

L bati

DCu

chbati

tot refi

DCu

toti DCu

traci

DC refu chbat refi

chSC refi

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

ek

Parallel

connectionEMR: Model organization

IBC: Step-by-step inversions

• Closed-loop control of DC

bus voltage

• Current distribution by 𝑘𝑒

𝑖𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓 = 𝑘𝑒𝑖𝑡𝑜𝑡−𝑟𝑒𝑓

𝑖𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓 = 1 − 𝑘𝑒 𝑖𝑡𝑜𝑡−𝑟𝑒𝑓

𝑖𝑡𝑜𝑡−𝑟𝑒𝑓 = 𝐶𝑢𝐷𝐶𝑡 𝑢𝐷𝐶−𝑟𝑒𝑓 − 𝑢𝐷𝐶−𝑚𝑒𝑎𝑠 + 𝑖𝑡𝑟𝑎𝑐−𝑚𝑒𝑎𝑠

𝑖𝐶−𝑟𝑒𝑓=𝑖𝑡𝑜𝑡−𝑟𝑒𝑓−𝑖𝑡𝑟𝑎𝑐−𝑚𝑒𝑎𝑠

(1)(2)

(1)

(2)

7/8/2016

5




Bat.

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chbatu

L bati

DCu

chbati

tot refi

DCu

toti DCu

traci

DC refu chbat refi

chSC refi

L bat refi

L SC refi

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

ek

Parallel




bus voltage


• Choppers inversion

𝑖𝐿−𝑏𝑎𝑡−𝑟𝑒𝑓 =𝑖𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓

𝑚𝑐ℎ𝑏𝑎𝑡

𝑖𝐿−𝑆𝐶−𝑟𝑒𝑓 =𝑖𝑐ℎ𝑆𝐶−𝑟𝑒𝑓

𝑚𝑐ℎ𝑆𝐶

(1)

(2)

(1)

(2)




Bat.

chbat refu

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chSC refu

chbatu

L bati

DCu

chbati

tot refi

DCu

toti DCu

traci

DC refu chbat refi

chSC refi

L bat refi

L SC refi

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

ek

Parallel




bus voltage



• Closed-loop control of

inductors’ currents

𝑢𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓 = 𝐶𝑖𝐿−𝑏𝑎𝑡𝑡 𝑖𝐿−𝑏𝑎𝑡−𝑟𝑒𝑓 − 𝑖𝐿−𝑏𝑎𝑡−𝑚𝑒𝑎𝑠 + 𝑢𝑏𝑎𝑡−𝑚𝑒𝑎𝑠

𝑢𝐿−𝑏𝑎𝑡−𝑟𝑒𝑓=𝑢𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓−𝑢𝑏𝑎𝑡−𝑚𝑒𝑎𝑠

Similar for SC current controller 𝐶𝑖𝐿−𝑆𝐶(𝑡)

(1)

(2)

(1)

(2)

7/8/2016

6




Bat.

chbat refu

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chSC refu

chbatu

L bati

DCu

chbati

tot refi

DCu

toti DCu

traci

DC refu chbat refi

chSC refi

L bat refi

L SC refi

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

ek

Parallel




bus voltage






(modulation)

𝑚𝑐ℎ𝑆𝐶 =𝑢𝑐ℎ𝑆𝐶−𝑟𝑒𝑓

𝑢𝐷𝐶

𝑚𝑐ℎ𝑏𝑎𝑡 =𝑢𝑐ℎ𝑏𝑎𝑡−𝑟𝑒𝑓

𝑢𝐷𝐶

(1)

(2)

(1)

(2)



- Energy management with filtering strategy -

Bat.

chbat refu

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chSC refu

chbatu

L bati

DCu

chbati

tot refi

DCu

toti DCu

traci

DC refu chbat refi

chSC refi

L bat refi

L SC refi

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

Strategyek

tot refi

Parallel

connection

Current distribution strategy

• Conventional filtering strategy

tot refi _bat refi

_sc refi

LPF




bus voltage






(modulation)

7/8/2016

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EMR’16

UdeS - Longueuil

June 2016



« SC voltage limitation methods »



- SC voltage limitation due to unideal DC/DC converter -

1 min1 0 1

out

in

u

u

1

max

out

in

u

u

• Phenomenon: Unstable when SC voltage becomes too low

• Literature: Unideal characteristic of DC/DC boost converter

(since [Cuk 1977])

Stable Unstable

inu

ipr LR

C

outuT

T

In the case of SC-based H-ESS for EV ?Ideal𝑟𝑝 = 0

Unideal𝑟𝑝 ≠ 0

𝑢𝑜𝑢𝑡

𝑢𝑖𝑛 𝑚𝑎𝑥

=1

2𝑟𝑝𝑅

𝑟𝑝: Parasitic resistance

𝑅: Load resistance

𝑢𝑜𝑢𝑡 fixed 𝑢𝐷𝐶

𝑢𝑖𝑛 varies in a wide range 𝑢𝑆𝐶

𝑅 = 𝑅𝑡𝑟𝑎𝑐 depends on the vehicle operation(equivalent traction resistance)

𝑢𝑆𝐶 𝑚𝑖𝑛 = 2𝑢𝐷𝐶

𝑟𝑝

𝑅

7/8/2016

8



- SC voltage limitation due to unideal DC/DC converter -

traci

Ci

chSCi

L SCi

Supercapacitors

scuchSCu

DCuL SCr

SCr

SCL

SC ocvu SCi

Traction

Our studied system

𝑅𝑡𝑟𝑎𝑐 =𝑢𝐷𝐶

𝑖𝑡𝑟𝑎𝑐

𝑢𝑠𝑐−𝑙𝑖𝑚 = 2. 𝑢𝐷𝐶

𝑟𝐿−𝑆𝐶 + 𝑟𝑆𝐶𝑅𝑡𝑟𝑎𝑐

𝑟𝑝 = 𝑟𝐿−𝑆𝐶 + 𝑟𝑆𝐶

Traction part serves as a

current source

Key point:

calculate the traction

(DC bus) current

2 methods

1. Constant limitation with max current calculated

by the max torque of the vehicle (the safest)

Tazzari Zero: 150 Nm 𝑢𝑠𝑐−𝑙𝑖𝑚 = 40 VDC

2. Dynamic limitation calculated by

real-time current measurement



2. Dynamic limitation calculated by

real-time current measurement

- SC voltage limitation methods: constant and dynamic -

Bat.

chbat refu

SC

Inductors Choppers

batu

L bati

chbatm

chSCm

chSC refu

chbatu

L bati

DCu

chbati

tot refi

DCu

toti DCu

traci

DC refu chbat refi

chSC refi

L bat refi

L SC refi

DC bus

capacitor

Tract.

chSCi

DCu

SCu

L SCi

L SCi

chSCu

Strategyek

tot refi

trac estR

Estimation of

the equivalent

traction

resistance

SC measu

Parallel

connection

𝑢𝑠𝑐−𝑙𝑖𝑚 = 2 𝑟𝑝𝑢𝐷𝐶𝑖𝑡𝑟𝑎𝑐

Working

condition

System

parameters

Notice: we don’t need any

more sensor because 𝑢𝐷𝐶 &

𝑖𝑡𝑟𝑎𝑐 are already measured for

control.

7/8/2016

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EMR’16

UdeS - Longueuil

June 2016



« Results and Discussions »



- Simulation setup -

• Implementation in Matlab/Simulink using the EMR library

• Two urban cycles of the New European Driving Cycle (NEDC)

-C-

U_dc_ref

ES

Traction

Subsystem

SuperCaps

current

controller

ES

SuperCaps

R_trac_est

Inductor

SuperCaps

Inductor

Battery

Strategy

HESS management

HESS

Distribution

HESS

Coupling

m_ch2

i_L2_meas

i_L1_meas

i_dc_meas

U_dc_meas

k_HESS

R_trac_est

U_bat_meas

m_ch1

U_sc_meas

i_tot_ref

U_dc_meas

i_dc_meas

i_dc_meas

U_dc_meas

U_dc_meas

i_L2_meas

R_trac_est

U_bat_meas

k_HESS

U_dc_meas

m_ch1

m_ch2

i_L2_meas

i_L1_meas

U_dc_meas

U_sc_meas

i_tot_ref

DC bus

controller

DC bus

Capacitor

Chopper

SuperCaps

Chopper

Battery

ChopSC

volt inv

ChopSC

curr inv

ChopBat

volt inv

ChopBat

curr inv

Battery

current

controller

ES

Battery U_dc

U_dc

U_dc

U_ch1U_ch1

i_L1

U_bat

U_ch2U_ch2

i_L2

U_sc

U_ch1_refU_ch1_ref

U_ch2_refU_ch2_ref

i_ch1_ref

i_ch2_ref

i_ch2_ref

i_L2

i_L1

U_dc

U_dc

i_ch2

i_ch1 i_tot

i_L2_ref

i_L1_ref

Parameter Value

L inductors 0.2 mH

r inductors 10 mΩ

r SC 3.8 mΩ

SC nom. voltage 45 VDC

SC capacitance 290 F

DC bus voltage 80 VDC

Bat. nom. voltage 40 VDC

Rated power 15 kW

Referred vehicle model

Tazzari Zero

7/8/2016

10



- Results -

Traction part evolutions used as the reference

This fluctuated

current will be

shared between

battery and SC



- Results -

This limitation is

the safest

Responses with constant limitation

but not effective

7/8/2016

11



- Results -

Responses with proposed dynamic limitation

SC can be used

more effectively



- Results -

A little more quantitative comparisons

The less time in limitation

The lower battery current

The more extended

battery lifetime

7/8/2016

12

EMR’16

UdeS - Longueuil

June 2016



« Conclusion and Perspective »



- Conclusion and Perspective -

This work has been done:

• Modeling and control of the H-ESS-based EV using EMR

• Study on the effects of the unideal of DC/DC converter on the SC-based H-ESS

• Proposed dynamic limitation method for SC voltage improved management performance

Near future works:

• Verifying the effectiveness of the proposed method with different strategies and driving cycles

• Experimental validation

7/8/2016

13



- Authors -

Dr. Ronan GERMAN

Université Lille 1, L2EP, MEGEVH, France

PhD in Electrical Engineering at University of Lyon, France (2013)

Research topics: Energy Storage Systems, EMR, HIL simulation, EVs and HEVs

Bao-Huy NGUYEN

PhD student since 2015


Université de Sherbrooke, Sherbrooke, QC, Canada

MSc in Electrical Engineering at Hanoi Univ. Sci. Tech., Vietnam (2015)

Research topics: EVs and HEVs, control in power electronics and electrical drives



- Authors -

Prof. Alain BOUSCAYROL


Coordinator of MEGEVH, French network on HEVs

PhD in Electrical Engineering at University of Toulouse (1995)

Research topics: EMR, HIL simulation, tractions systems, EVs and HEVs

Prof. Joao TROVAO

Université de Sherbrooke, Sherbrooke, QC, Canada

PhD in Electrical Engineering at University of Coimbra, Portugal (2013)

Research topics: EVs, renewable energy, energy management, power quality,

and rotating electrical machines

7/8/2016

14



- References -

[Allègre 2013] A.-L. Allègre, R. Trigui, and A. Bouscayrol, “Flexible real-time control of a hybrid

energy storage system for electric vehicles,” IET Electr. Syst. Transp., vol. 3, no. 3, pp.

79–85, 2013.

[Castaings 2016] A. Castaings, W. Lhomme, R. Trigui, and A. Bouscayrol, “Comparison of

energy management strategies of a battery/supercapacitors system for electric vehicle

under real-time constraints,” Appl. Energy, vol. 163, pp. 190–200, 2016.

[Cuk 1977] S. M. Cuk, “Modelling, Analysis, and Design of Switching Converters,” PhD thesis,

California Institute of Technology, 1977.

[Lhomme 2005] W. Lhomme, P. Delarue, P. Barrade, A. Bouscayrol, and A. Rufer, “Design

and control of a supercapacitor storage system for traction applications,” in Conference

Record - IAS Annual Meeting (IEEE Industry Applications Society), 2005, vol. 3, pp.

2013–2020.

[Trovao 2015] J. P. F. Trovao, V. D. N. Santos, C. H. Antunes, P. G. Pereirinha, and H. M.

Jorge, “A Real-Time Energy Management Architecture for Multisource Electric Vehicles,”

IEEE Trans. Ind. Electron., vol. 62, no. 5, pp. 3223–3233, 2015.

EMR’16

UdeS - Longueuil

June 2016



« Thank you for your attention »

Documents

« LAYOUT OF PRESENTATION OF EMR’13 - EMR...EMR’16 UdeS - Longueuil June 2016 Summer School EMR’16 “Energetic Macroscopic Representation” « EMR and control of an Electric