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EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
Prof. A. Bouscayrol(University Lille1, L2EP, MEGEVH, France)
based on the works of “eV” group of Control teamof L2EP Lille
http://emrwebsite.org/
«« Study of Energetic Systems usingStudy of Energetic Systems usingEnergetic Macroscopic Representation Energetic Macroscopic Representation »»
2Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Outline -
1. Research at L2EP / Univ. Lille1
2. Requirements for study of EVs and HEVs
3. EMR and Inversion-based control
4. Example of an EV
5. More advanced Example
Simulation of an EV
3Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- University Lille1, Science & Technology -
Lille and suburbs more than 1.5 million inhabitants
4 universities
(150,000 students)
University of Lille 1
(30,000 students)
at the crossroad of Paris, London and Brussels
Paris
Lille
London
BrusselsCologne
Amsterdam
1h
1h200h35
TGV (railway)airport
0h50
France
4Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- L2EP Lille -
28 professors and associate professors, 41 PhD students, 12 technical and administrative staff
Laboratory of Electrical Engineering and Power (L2EP)http://l2ep.univ-lille1.fr/
5Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Prof. F. Piriou« Optimisation »Prof. M. Hecquet
« Optimisation »Prof. M. Hecquet« Numerical Modelling »
Prof. S. Clénet« Numerical Modelling »
Prof. S. Clénet
- Research at L2EP -
« Electrical grid »Prof. B. Robyns
« Electrical grid »Prof. B. Robyns
« Control »Prof. B. Lemaire-Semail
« Control »Prof. B. Lemaire-Semail
« Power Electronics »Prof. P. Le Moigne
« Power Electronics »Prof. P. Le Moigne
6Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Fq/b
Vid id C
Vid-ref id-ref CrefFq-
ref
vq-ref
vqN
FTCriq Vid C
simulation devéhicule Electrique
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
Modelling and control tools(COG, EMR, BMC, resonant controllers..)
« Control »Prof. B. Lemaire-Semal
« Control »Prof. B. Lemaire-Semal
- “Control” team of L2EP -
3 Professors4 Associate Professors12 PhD students
A. Bouscayrol« Electricityand Vehicle »
A. Bouscayrol« Electricityand Vehicle »
X. Kestelyn«Machine tools »
X. Kestelyn«Machine tools »
B. Lemaire-Semail« Electro-active
actuators »
B. Lemaire-Semail« Electro-active
actuators »
E. Semail« Multiphasemachine »
E. Semail« Multiphasemachine »
Formalisms bring solutions for new applications
New applications lead to the improvement of formalisms
7Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
1980 1990 2000 2010
PetriNets(use)
PowerElectronics
(COG)Causal
OrderingGraph
ElectricDrives
LEEI Toulouse (France)
[Hautier 1996]
(MMS)MultimachineMulticonverter
Systemdescription
ElectromechanicalSystems
LEEI / GREENLESiR / GE44
GdR SDSE-ME2MS(France)
[SMM 2000]
(EMR)Energetic
MacroscopicRepresentation
Univ. Trois Rivières (Ca)EPF Lausanne (CH)
FEMTO-STMEGEVH network
[Bouscayrol 2003]
- Modeling and control tools -
8Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
• University of Lille, Polytech Lille, EC Lille– Master 1: COG - EMR initiation – Master 2: COG - EMR further development
• Other French Universities and Engineering Schools– COG: Toulouse, Cachan, Belfort, CNAM Paris– EMR: Cachan (since 2004) Belfort (since 2006), ParisTech (2010)
• Universities abroad France– Univ. de Québec Trois-Rivières (since 2002)– EPF Lausanne (since 2005) – Univ. Tsinghua (2008) / Univ. Barcelona (2010)– Univ. Helsinki (2011) / Univ. Graz (2012)
• EMR Summer Schools– EMR’06, Lille (France) / EMR’08, Harbin (China)– EMR’09, Trois Rivières (Canada)– EMR’11, Lausanne (Switzerland) / EMR’12, Madrid (Spain) – EMR’13 Lille (France) / EMR’14 Coimbra (Portugal)
- Graphical description and Education -
9Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
(Warwick, UK)
(Switzerland)
(Trois-Rivières,Toronto,Canada)
(Harbin, China)
(the Netherlands)
(Beijing, China)(Madrid, Spain)
Industries : EADS, ETEL, Nexter System, PSA Peugeot Citroën, ST-micro, SNCF, Siemens Transportation Systems, Valéo …
(Cordoba, Argentina)
(Nanjing, China)
(Saitama, Japan)
- Collaborations using graphical descriptions -
10Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Scientific Influence -
• Special sessions in Conferences“Graphical descriptions for modelling and control”
IEEE-IECON’06 (Paris), ElectriMACS’08 (Québec), IEEE-VPPC’09 (Detroit), IEEE-VPPC’10 (Lille), IEEE-VPPC’11 (Chicago)
“HEVs modelling and control” (within the framework of MEGEVH)IEEE-VPPC’06 (Windsor, UK), IEEE-VPPC’08 (Harbin, China), IEEE-VPPC’10 (Lille)
“Hardware-In-the-Loop simulation” (within the framework of MEGEVH)IEEE-VPPC’07 (Dallas), IEEE-VPPC’08 (Harbin, China), IEEE-ISIE’08 (Cambridge, UK)
“Multiphase drives”IEEE-VPPC’10 (Lille)
• Tutorials & Keynotes in international conferences“Tactile actuators”, EuroHaptics’06 (Paris), ECCE-EPE’11 (Birmingham)“Hardware-In-the-Loop simulation”, EVS’24 (Stavanger, Norway, 2009)“HEVs energy management”, IEEE-VPPC’09 (Detroit), IEEE-IECON’09 (Porto)“HEV and EMR”, IEEE-VPPC’13 (Beijing)
• Guest Editors of archival journals“Hardware-In-the-Loop simulation”, IEEE trans. on Industrial Electronics (2010)“Advanced transportation systems”, IEEE trans. on Vehicular Technology (2011)
• Conference organizationsIEEE-VPPC 2010 (Lille) EPE-ECCE 2013 (Lille)
Special sessionElectrIMAC’08
Tutorial IEEE-VPPC’09
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
«« 2. Requirement for the study2. Requirement for the studyof of EVsEVs and and HEVsHEVs »»
Based on the works ofMEGEVH, French network on HEVs
12
Barcelona 2013
MEGEVH - MEGEVH network -
Coordination:Prof.A. Bouscayrol
6 projects7 PhDs in progress6 PhDs defended
8 industrial partners10 academic Labs
(Energy management ofHybrid Electric Vehicles)
http://l2ep.univ-lille1.fr/megevh.htm
Lille
Paris
Lyon
Toulouse
Valenciennes
Belfort
LTE
LTN
LAMIHLAMIH
Bordeaux
13
Barcelona 2013
MEGEVH
MEGEVH-macro
MEGEVH-strategy
MEGEVH-optim
theoretical developments
MEGEVH-storeMEGEVH-FC
Development of modellingand energy management
methods
independentlyof the kind of vehicle
- MEGEVH philosophy -
experimental platforms
Reference vehicle
Paper Prize Award of IEEE-VPPC’08
Paper Prize Award of IEEE-VPPC’12
14Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
thermalengine
Fuel MT
Thermal vehicle:- fossil fuel- pollution- low efficiency
PE electrcalmachineBattery
Electric Vehicle:- long charging time- low range- battery cost
http://www.thinkev.com/
Think city
H2 PEFC electricmachine
Fuel Cell vehicle :- H2 production- Fuel Cell cost- Fuel cell lifetime
http://www.honda.com/
Honda Clarity FX
- Mono-source vehicles -
15Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
fuel
Hybrid vehicle:• several source of energy• advantage of each technology• important cost• complex control
Battery PE
thermalengine
MTelectricalmachine
Key issues for HEVs:1. topologies of the power train2. design of sources and components3. control and energy management
Toyota Prius 3
http://www.toyota.com/
http://www.mpsa.com
Peugeot 3008 HY4
- Multi-source vehicles -
16Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
ICE
EM
BAT
EG
Series Parallel HEV
Fuel
ICE
EM
BAT
Fuel
??
ICE
EM
BAT
Fuel
EG
Series HEV electrical node
ICE
EM
BAT
Fuel
Parallel HEV
mechanical node
power flows
- HEV topologies -
17Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
• thermal traction
• internal charge of battery
• Stop & Go
• regenerative braking
• electrical boost
• electrical traction
• external charge (Plug-in HEV)
EMICE
ICE EM
ICE EM
ICE EM
ICE
EM
TV
EV
HEV
mild HEV
full HEV
A lot of operation modes to deals with the controldesign must include energy management
- Design and power ratio -
18Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Control and energy management -
BAT
ICE
VSI1 EM1
FuelParallel HEV Trans.
fast subsystemcontrols
EM1control
ICEcontrol
Transcontrol
Energy management(supervision/strategy)
driver request
slow systemsupervision
19Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- How to study HEVs? -
• low energy consumption• low pollutant emissions• large drive range
An energetic modeling is required to take into account the different power flows
and the subsystems interactions
But more complex than for Thermal Vehicle or Electric Vehicle• multi-physical devices• more power flows• various interconnected subsystems
(for model-based control)
• adapted topology• balanced design• structure control
to achievetogether
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
«« 3. EMR and inversion3. EMR and inversion--based control ofbased control ofof energetic systems of energetic systems »»
Based on the works of“control team” of L2EP
21Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Simulation for ever!Launching Matlab/Simulink is more and more a “Pavlov reflex”
realsystem
systemsimulation
behaviorstudy
?#@!&?
But:• Why simulation?• Which constraints and objectives?• Which level of accuracy?• How to be sure of the results?
- Typical procedure -
22Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
realsystem
systemmodel
assumptions
systemrepresentation
no
assumption
systemsimulation
assumptions
Intermediary steps are required for complex systems
Limitation to mainphenomena in function
of the objective
Organization of themodel to highlight
some properties
- From real system to simulation -
23Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
realsystem
systemmodel
assumptions
systemrepresentation
no
assumption
systemsimulation
assumptions
smoothing inductor
LLl RiidtdLv
(low frequencydynamical model)
ILVL
R+Ls1
(Simulink ©+Runge Kutta)
(bloc diagram +Laplace)
scopeStep
1
L.s+R
- Basic example -
24Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
realsystem
systemmodel
systemrepresentation
systemsimulation
• dynamic/ quasi-static/ static
• structural/functional• causal/non-causal
• backward/ forward
Different possibilities at each step in function of the objective
- Different catgories -
25Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
iHe1
Ms
vrame
Fres
Ftot
kbog
kbog
kbog
kbog
Fbog1
Fbog2
k11+1s
xCM1
B1
uHe
xCM1
xk2
1+2skmcc
iei
iee1
x
k21+2s
kmcc
iee2
uHe1
x
x
cHe1
x
x
x
x
uHe2
eee2
eee1
iHe
iHe2
k31+3s
ihach
k31+3s
ifiltrre ufiltrreVDC
[K]
cHi [K]
cHe2 [K]
EUREKA!
Fingers in the pockets!
But block diagrams:• can be confusing for complex systems• are limited to continuous and linear systems• do not highlight energy properties• do not highlight interaction between subsystems
Remember, See the wood before the trees!
- Limitation of classical block digrams -
26Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Systemic approachStudy of subsystems and their interactionsHolistic property: associations of subsystem induce new global properties.
Cartesian approachThe study of subsystems is
sufficient to know the system behaviour.
For better performances of a systemInteractions and physical laws must be considered!
System = interconnected subsystems organized for a common goal
Cybernetic systemicblack box approach.
behaviour model
Cognitive systemicphysical laws
knowledge model
- Systemic & Cartesian approaches -
27Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Interaction principleEach action induces a reaction
action
reaction
S2S1
Power exchanged by S1 and S2 = action x réaction
power
- Interaction principle -
Example
battery load
Vbat
Vbat
iload
loadbatteryVbat
iload
P=Vbat iload
28Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
If the interaction principle is not respected for 1 subsystem action
S2S1
Power = 0
- Interaction mistake -
iHe1
Ms
vrame
Fres
Ftot
kbog
kbog
kbog
kbog
Fbog1
Fbog2
k11+1s
xCM1
B1
uHe
xCM1
xk2
1+2skmcc
iei
iee1
x
k21+2s
kmcc
iee2
uHe1
x
x
cHe1
x
x
x
x
uHe2
eee2
eee1
iHe
iHe2
k31+3s
ihach
k31+3s
ifiltrre ufiltrreVDC
[K]
cHi [K]
cHe2 [K]
Error in the energy analysisfor the whole system
(reaction = 0)
29Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
area xdt
knowledge of past evolution
OK inreal-time
Principle of causalityphysical causality is integral input output
cause effect
t1
t
x
knowledge of future evolution
slopedtdx
?
impossible inreal-time
- Causality principle -
30Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Causality principle -
Example
vC
C iccc v
dtdCi
2
2
1cCc vE
delayno energy disruption
vCic
risk of damage
vC icddt
For energetic systemsphysical causality is VITAL
31Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
If the causality principle is not respected for 1 subsystem Voltage
ScapsChopper
- causality mistake -
iHe1
Ms
vrame
Fres
Ftot
kbog
kbog
kbog
kbog
Fbog1
Fbog2
k11+1s
xCM1
B1
uHe
xCM1
xk2
1+2skmcc
iei
iee1
x
k21+2s
kmcc
iee2
uHe1
x
x
cHe1
x
x
x
x
uHe2
eee2
eee1
iHe
iHe2
k31+3s
ihach
k31+3s
ifiltrre ufiltrreVDC
[K]
cHi [K]
cHe2 [K]
Risk of damage!No real-time management
BOUM!
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
«« 3a. Energetic Macroscopic Representation 3a. Energetic Macroscopic Representation »»
Based on the works of“control team” of L2EP
33Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- The different elements -
An energetic system:
Energy sources
Energy storage elements
Energy conversion elements
Energy distribution elements
Key elements are:
• energy storage element
(delay, state variable, closed-loop control)
• energy distribution element
(power flow coupling, control with criteria)
34Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Source oval pictogrambackground: light greencontour: dark green1 input vector (dim n)1 output vector (dim n)
- Energetic sources -
terminal elements which represent the environment of the studied system
generator and/or receptor of energy
power system
reaction
actionupstream
sourcedownstream
sourcex1
y1
x2
y2
p1= x1. y1 p2= x2. y2
direction ofpositive power(convention)
n
iii yx
1
35Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
i1
u13
u23
i2
gridVDC
iBat.
VDC
i
- Energetic sources: examples (1) -
structuraldescription
EMR(functionaldescription)
p=VDC i
Battery Electrical grid
p=u i
u
i
23
13uu
u
2
1ii
i
2 independent currents!
2 independent voltages!
36Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
pload
qwind
wind
qwind [m3/s]
Pload [Pa]
bulbI
u
I
uWind
(air flow source)generator energy
VDC
iBat
VDC
i
- Energetic sources: examples (2) -
Battery(voltage source)generator and
receptor of energy
Ligthing bulbreceptor of energy
IC engine(torque source)
generator of energy
Tice
ICE
Tice
Tice-ref
37Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Accumulator rectangle with an oblique barbackground: orangecontour: redupstream I/O vectors (dim n)downstream I/O vectors (dim n)
- Accumulation elements -
internal accumulation ofenergy (with or without
losses)
reaction
actionx1
y
y
x2
p1= x1. y p2= x2. y
causality principle
output(s) = input(s)
dtxxfy ),( 21
y = output, delayed frominput changes
fixed I/O (causal description)
38Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
i1L, rL
u’13
u’23
i2u13
u23
)'(2112
31 uuiri
dtdL L
v1 v2
i
L, rL
21L vviridtdL
v1
v2
i
i
- Accumulation elements: examples (1) -
inductor 3-phase line
structuraldescription
EMR (causalrepresentation)
mathematicalModel
i
i
u
u’
39Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
inductorv1
v2
i
i
v1 v2
i
L
v
i2i1
Ccapacitor
i1
i2
v
v
inertia
J
T2T1
T1
T2
stiffness
k1 2
TT
1
2
T
T
2 21 iLE
2 21
JE
2 121 T
kE
2 21 vCE
- Accumulation elements: examples (2) -
40Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
conversionelement various pictograms
background: orangecontour: redupstream I/O vectors (dim n)downstream I/O vectors (dim p)Possible tuning input vector (dim q)
- Conversion elements -
conversion of energy without energy accumulation
(with or withoutlosses)
action /reaction x1
y1
y2
x2
p1= x1. y1 p2= x2. y2
),(),(
21
12zxfyzxfy
z
tuning vector
no delay!
upstream and downstreamI/O can be permuted
(floating I/O)
41Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Conversion element pictograms -
VDC
iconvuconv
iload
VDC uconv
iload
m
iconv
loadconv
DCconvimiVmu
m: modulation function of the convertercycleduty Dm
Circle = multiphysical conversion
Square = monophysical conversion
42Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Conversion elements: examples -
dcmdcmdcm euiridtdL
VDC uconv
iloadiconv
VDC
iconvuconv
s
iload
s
i
u DCM
gear
TgearT1
2
2
T3kgear
3gear2 TTdtdJ
keikT
dcm
dcmdcm
idcm
u idcm
edcm
Tdcm
k
gear
T12
Tgear
2
T3
2geargear
1geargear
kTkT
m
loadconv
DCconvimiVmu
Bat
43Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Bat
- Coupling elements -
VDC
icoup
i1
i2
vcoup1 = VDC
vcoup2 = VDCVDC
icoup
i1
i2vcoup1
vcoup2
21coup
DC
iiicommonV
parallel connexion
distributionof energy
no tuningvector
couplingelements
overlapped pictogramsbackground: orangecontour: red
multiphysicalcoupling
Monophysicalcoupling
44Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Coupling elements: examples -
2T
TT gearrdifldif
iarm
uarmDCM
iexc
uexc
excdcm
armexcdcm
ikeiikT iarm
uarm
iexc
uexc
iarm
earm
Tdcm
eexc
iexc
Field winding DC machine
Mechanical differential
diff
Tgear
lwh
rwh
Tldiff
Trdiff
Tldiff
rwh
Trdiff
lwh
Tgear
diff2ΩΩΩ rwllwh
diff
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
«« 3b. Inversion3b. Inversion--based control based control »»
Based on the works of “control team” of L2EPIn collaboration with Prof. P. Sicard
(Univ. Quebec Trois Rivières, Canada)
46Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Systemcause effect
- Principle of Inversion-based methodology -
desired effectControl
right cause
measurements?
control = inversion of the causal path
1. Which algorithm? (how many controllers)2. Which variables to measure?3. How to tune controllers?4. How to implement the control?
Inversion-based methodology
automatic controlindustrial electronics
input output
[Hautier 96]
47Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- EMR and Inversion-based methodology -
desired effectright cause
measure?
SS1
causeeffect
inputoutputSS2 SSn
C1 C2 Cn
measure?measure?
EMR = system decomposition in basic energetic subsystems (SSs)
Remember,divide and conquer!
Inversion-based control: systematic inversion of each subsystems usingopen-loop or closed-loop control
48Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
?
Example:
- Inversion 1: single-input time-independant relationship -
output depends on a single inputwithout delay
Ku(t) y(t)
)( )( tuKty
yref(t)u (t)1/K
directinversion
)(1)( tyK
tu ref
1. no measurement2. no controller(open-loop control) Assumption: K well-know and constant
Example: Resistance
1/R
R
vt) i(t)
)( 1)( tvR
ti
directinversion
)( )( tiRtv refiref(t)v(t)
49Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
?
Example:
- Inversion 2: multiple-input time-independant relationship -
Output depends on several inputswithout delay
u1(t) y(t))()( )( 21 tututy
yref(t)u1 (t)
u2(t)+
+
1. measurement of the disturbance input2. no controller(open-loop control)
directinversion
)()()( 21 tutytu measref
+-
u1 is chosen to act on the output y
u2 becomes a disturbance input
Assumption: u2 well-know and can be measured
50Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
?
Example:
- Inversion 3: single-input causal relationship -
output depends on a single input and time (delay)
u(t) y(t)
dt )()( tuty
yref(t)u (t)
causality principle
directinversion
)()( tydtdtu ref
not possible in real-time
dt
1. measurement of output2. a controller is required(closed-loop control)
indirectinversion
)()()()( tytytCtu measref
closed loop controller
C(t)+-
51Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Example: PM-DC machine -
i
u
Lm rm
u i e
ireudtdiL mm
multi-input causal relationship
irudtdiL mm
decomposition
euu
U(s)
E(s)-
+ K1+s
U(s) I(s)
+
U (s)
+direct
inversion
Iref(s)Uref(s)C(s)
+-closed-loop
52Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Manipulate u21 u1 is a disturbance
u1 y2
u2
Objective: to control y2
y2-refu1-meas
uHb= mHb VDC
iHb= mHb idcm
Ex : H-bridge chopper
mHb = uHb_ref / VDC_meas
uHb_ref⁄ ×
mHbVDC_meas
y1 u21
y2 = f(u1, u21 )
- Inversion of a conversion element -
53Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
y2
u2
Objective: to control y2
y2-refu1-reg
u1
y1
Ex : pulley or roller
y2 = f(u1 )
1_ref = trans_ref / rtpull
Vtrans= rpull1
Ttrans = rtpull Fload
Vtrans_ref1_ref
1rtpull
- Inversion of a conversion element (2) -
54Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Manipulate u1 u2 is a disturbance
Objective: to control y2
u2
y2
y1
u1
y2-ref
u2-meas
y2-meas
u1-reg
y2=f(u1, u2 )
f is in integral form
Direct inversion isin derivative form
Approximate inversionby closed loop control
Ex : rotating shaft
loadTemTfdtdJ
+
ref
C(t)Tem_ref
meas
+-
Tload_meas
+
measloadTmeasreftCrefemT
_
))((_
- Inversion of an accumulation element -
55Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
u1m
u11
- Inversion of downstream coupling elements -
y2
u2
y2-ref
kD1…kD(m-p)
no measurement no controller
(m - p) distributionvariables
refDmm
refD
yku
yku
2'
1
2'
111
...
y11
u11
y1m
u1m
Example: chassis of a train
Fbog1
vtrain
Ftot
Fbog4
Fbog2
Fbog3
vtrain
vtrain
vtrain
vtrain
Ftot-ref
Fbog1
Fbog4
Fbog2
Fbog3
kD1 kD3kD2
56Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
2. Tuning path
SE SM
1. EMR of the system
Maximal Control Scheme :- maximum of sensors- maximum of operations
- Maximum control scheme -
3. Inversion step-by-step Strong assumption: all variables can be measured!
57Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
fusion4. Simplification of the control scheme
2. Tuning path
1. EMR of the system
3. Inversion step-by-step
5. Estimation of non-measured variables
6. Tuning of controllers
PID controllerCalculation of kP kI kD
3b. Strategy
- Practical control scheme -
SE SM
Simple tuning is possible by time coordination/separation of the control loops
58Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
DCM1
DCM2
PE1
PE2
Bat. Fres
EM1
EM2
- Energetic Macroscopic Representation (EMR) -
Bat. Env.
Specific pictograms for the analysis of power flows:• source of energy (green oval)• accumulation of energy (orange crossed rectangle)• conversion of energy (orange square or circle)• distribution of energy (overlapped pictograms)
Better understanding, efficient energy management
59Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
v
vref
- Inversion-based control -
Bat. Env.
strategy
Remember, Divide and conquer!
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
«« 4. Inversion4. Inversion--based control of an EV based control of an EV »»
T. Letrouvé, with the prepration of W. Lhommebased on the works of “control team” of L2EP
61Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
battery
itot
ESubat
- System Modeling using EMR -
62Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
battery
itot
ESubat
- System Modeling using EMR -
chopper
iamcha
ucha
achacha
batchacha
imiumu
63Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine
dtdiLireu a
aaaacha
without saturation of the DC machine
input output
cause effect
- System Modeling using EMR -
64Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
emema
aem
keikT
- System Modeling using EMR -
65Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels
vev
evwh
redem
emwh
redtran
vRk
TRkF
neither the contact law nor curving road
Ftran
- System Modeling using EMR -
66Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis
vev
vev
Fres
restranev FFvdtdM
Ftran
- System Modeling using EMR -
67Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Trans- wheels chassis environ.
Fres
ichaucha
iaem
Tem
dif
ubat
if uchf
Tred
wl
wrTdif
Tdif
vev
ichf
vev
Tem
em
vev
FresMS
itot
Ftrac
vev
)sin(MgF
vCSF
slope
evxfrontairdrag
221
slopeFFF dragres
Sfront
Ftran
- System Modeling using EMR -
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
68Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
- System Modeling using EMR -
69Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Inversion-based Control -
Step 3a: By inversion of tuning path, obtain control path
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
70Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Inversion-based Control -
Step 3b: Maximum Control Structure
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
restranev FFvdtdM
vev_refC(s)Ftran_ref
vev_mea
+-
Fres_mea
++
vevFtran
- Fres
+sM/1
vev
71Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Inversion-based Control -
Step 3b: Maximum Control Structure
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
evwh
redem
emwh
redtran
vRk
TRkF
Tem_ref Ftran_ref
Tem Ftran
Ωem
wh
red
Rk
red
wh
kR
vev
wh
red
Rk
72Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
- Inversion-based Control -
Step 3b: Maximum Control Structure
evema
em
keIakT
Ia_ref Tem_ref
Ia Tem
ea
k
Ωemk
k1
73Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Inversion-based Control -
Step 3b: Maximum Control Structure
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
dtdiLireu a
aaaacha vev
Fres
SM
ia_refC(s)ucha_ref
ia_mea
+-
ea_mea
++
iaucha
-
ea
+)/1(
/1RsL
R
ia
74Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Inversion-based Control -
Step 3b: Maximum Control Structure
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
achacha
batchacha
imiumu
vev
Ftran vev
Fres
MS ucha_ref
mcha
PWM
ubat
75Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
- Inversion-based Control -
Step 3b: Maximum Control Structure
76Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
- Inversion-based Control -
Step 4: Practical control structure - simplification
77Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
battery
itot
ESubat
chopper
iamcha
ucha
ea
ia
DC machine Trans- wheels
Tem
em
Trans- wheels chassis environ.
vev
Ftran vev
FresMS
- Inversion-based Control -
Step 4: Practical control structure - estimation
Tem
em vev
Ftran
78Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Inversion-based Control -
Step 6: Control tuning – Step 7: implementation
Control Unit
vev_refia_refucha_ref Tem_ref Ftran_ref
mcha_ref
mcha
Tem
em vev
Ftran
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
«« 5b. Application to other5b. Application to otherinnovative systems innovative systems »»
Based on the works of“control team” of L2EP and on MEGEVH
80Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
• flexible power and control devices
• HIL simulation
« eV » platform: objective
study of anew vehicle
• EMR methodology• simulation (EMRlibrary)
Objective of the “electricity & vehicle” (eV) platform of the control team: real-time validation of energy management of new vehicle concepts for more efficient and less pollutant transportation systems
pre-validation onthe “eV” platform
validation ona real prototype
• real vehicle• IBC and EMSintegration
HIL simulation of the 3008 HY4 traction system (« ev » platform)
Simulation of the 3008 HY4 using EMR
Ex: PhD of T. Letrouvé (double parallel HEV of PSA)
validation of the control onthe 3008 HY4 prototype
81Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Flexibility: “eV” is the open platform of MEGEVH for the real-time validationof various concepts of new vehicles
MaxwellScaps
dSPACE 1005
studied Vehicle(power components + HIL simulations)
BatscapScaps
NexaFC50 kW
converters
dSPACE 1103
10 kWconverters 2 kW MS+IM+DCM
2 kW MS+IM+DCM
10 kW PMSM+DCM
20 kW MSAP+IM
DP geartrain + machines
e-bike (Li-ion)
e-scooter (NiMH)
EV Tazzari Zero
PbBat
NiMHBat
Li-ionBat
« eV » platform: flexibility
electricalmachines
electricvehicle
82Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Collaboration: a valuable platform for industrial and international collaborationswith the framework of EMR methodology
“eV” platfrom
FranceHIL of an EV
HIL of Scaps vehiclesHybrid ESS HIL of various HEV powertrain
Hybrid ESS
different controls of Scaps systems
(Canada)
HIL simulation of WECS (Denmark)
HIL of subway tractionsanti-slip control of VAL
EMS of NeoVAL (Scaps)HIL of a DPG Hybrid truck
HIL of a double parallel HEV
HIL of FC vehicles
HIL of theNanquing subway
(China)
(Spain)
(Argentina)
EMS ofEVs
« eV » platform: collaborations
HIL of a hybrid train
83Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
vref
control
simplifications
vref
rail
ES MS
power electronics DC machines mechanical power train environ.
EMR
[Verhille & al. 2007]
- Control of subway VAL 206 traction system -
84Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
vsub_refFtot1_ref
Fbog2_ref
kD
wh2_ref
shaft2_refTdcm2_ref
kD2kW2
wh1_ref
kD1kW1
Fbog1_ref
newstrategy
wh22_meswh21_meswh12_meswh11_mes
shaft1_mes
Tdcm1_ref
shaft2_mes
vsub_mes
shaft1_ref
New strategy:slip detection
Reduction of torqueof the slipping wheel
Increase of othertorques
- Anti-slip control of subway VAL 206-
experimental validationusing HIL simulation
[Verhille & al. 2007]
current (A)ifield2
ifield1
85Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
PV panelDC/DC DC/AC
supercapacitorbank
DC/DC DC/ACPMSM
hydraulicmachine
oiltank
air compressedaccumulators
(Switzerland)[Bossmann & al. 2007]
Master of T. Bossman, 2006
- EMR of a hybrid storage system -
86Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
PV panelDC/DC DC/AC
supercapacitorbank
DC/DC DC/ACPMSM
hydraulicmachine
oiltank
air compressedaccumulators
PV chopper 1
PVichop1
schop1
loadivsi1
svsi1
ucap
ucap
uvsi1
ioaduchop1
ipv
VSI 1 loaddc bus
schop2
uchop2 ucap
ifilt
Scapsifilt
uscaps ichop2
itot
itot
ucap
ucap
Scaps inductor chopper 2 ivsi2svsi2
ucap uvsi2
ism
ism
esm
Tsm
shaft
shaft
Thm
oil
qhm
pvalv
qoil
mvalvpatm
qoil
qoil
pair
VSI 2 PMSM hydraulicmachine
valveoil tank
air accumulator
(Switzerland)[Bossmann & al. 2007]
Master of T. Bossman, 2006
- EMR of a hybrid storage system -
87Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
PV load
oil
Scaps
MEPTON/OFFucap-ref
MPPT
ON/OFF
- EMR of a hybrid storage system -
88Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Automatic subway VALsupplied by a DC rail
Supercapacitor storage systemwithout supply rail
• energy savings• cost reduction• safety operation• modern product
1 Sizing of on-boardenergy
3 Different topologies of
power electronics
2 Sizing of Supercaps
bank
Supercapacitor bank of L2EP
4 Simulation of the global
system using EMR
Matlab-Simulaink model of VAL 206 [Allègre & al. 2010]
- Subway NeoVAL using supercapacitor -
89Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
- Subway NeoVAL using supercapacitor -
computer
SC1 SC1
dSPACE
Interface
Fibreoptique
rectifier
Chopper 1
Grid
Smoothinginductor
SmoothinginductorSC2 SC2
Interface
inverter
Chopper 2
InductionMachine
Controlled DC machine
Chopper 3
MechanicalPowertrain
model
ESS in station on-board ESSemulated
traction system
track profile
1
1 Slow charge of SC1
2 Fast transfer to SC2
2
Next steps : Full-scale HIL simulationtest on a real vehicle
3
4
Traction operation
Energy recovery
3
4
0 10 20 30 40 50 60 70120
125
130
135
140
t(s)
Scps
volta
ge(V
)
experimental Usc2
90
MEGEVH
Barcelona 2013
Bat1
Bat1
Res Res Res
ResResRes
tank ICE
[Boulon & al. 2010]
- High-redundancy HEV -
traction current (A)
[Boulon & al. 2010]
uC2
ig2
ig1
uC1
uC1
Tice
Ttot
gen
gen
gen
Tg1Tg1-ref
double generator
ICE
Tg2-ref
Tice-ref Tg2
Bat1Vbat1 iL1
iL1 uh1mh1
ih1
itot1
uC1
uC1
uC2
Bat2Vbat2 iL2
iL2 uh2mh2
ih2uC2
uC2
iMT1
iMT2
battery sets
DC buses
connections
itot3
6
6
Ttot
gear
Tm1
mvsi1
Tm2
itot1
uC1
em1im1
uvsi1 im1
em2im2
uvsi2 im2
mvsi2
gear
gearitot2
uC2
vhev
Environ.Fres
6vhev
Brake
vhevFbk
Fbk-ref
vhev
FtractFtotTgear Fwh
wh vhev
double-machine drive wheel and brake chassis
91
MEGEVH
Barcelona 2013[Boulon & al. 2013]
uC2
ig2
ig1
uC1
uC1
Tice
Ttot
gen
gen
gen
Tg1Tg1-ref
double generator
ICE
Tg2-ref
Tice-ref Tg2
Bat1Vbat1 iL1
iL1 uh1mh1
ih1
itot1
uC1
uC1
uC2
Bat2Vbat2 iL2
iL2 uh2mh2
ih2uC2
uC2
iMT1
iMT2
battery sets
DC buses
connections
itot3
6
6
uC2-refitot3-refig2-meas
uh2-ref
iL2-ref ih2-ref
gen-ref Ttot-ref kD
Tg1-ref
Tg2-ref
Ttot
gear
Tm1
mvsi1
Tm2
itot1
uC1
em1im1
uvsi1 im1
em2im2
uvsi2 im2
mvsi2
gear
gearitot2
uC2
vhev
Environ.Fres
6vhev
Brake
vhevFbk
Fbk-ref
vhev
FtractFtotTgear Fwh
wh vhev
vhev-refFtot-ref
kD2
Twh1-ref
Tm2-ref
Ftract-refTm1-ref
kD4
Twh1-ref Fwh-ref
kD3im1-refuvsi1-ref
m1-ref
m2-ref
uC2-refitot3-refig2-meas
uh2-ref
iL2-ref ih2-ref
double-machine drive wheel and brake chassis
strategy
Strategy = coordination of subsystems
- High-redundancy HEV -
92
MEGEVH
Barcelona 2013
MEGEVH
Series–Parallel HEVs:• high efficiency for cars (e.g. Toyota Prius)• use of a single planetary geartrain (SPG)• use of 1 ICE and 2 Electric Machines (EMs)
new topology using a EVT• integration of EMs and SPG
no real comparison betweenEVT-based and SPG-based HEVs
EVT for Toyota Prius II?
Tem1
em1
Tem2
em2
- HEV using Electric Variable Transmission -
93
MEGEVH
Barcelona 2013
Tem2-ref
Fbk-ref
ivsi1
ubat vhev
Env.Fres
Brake vhev
Fbk
vhevvhev
FtotFwhTtot
em2
chassis
Tice
Tem1
ice
ice
ICE
Tice-ref Tem1
em1
em2
Tem2
idq1
idq1 edq1
vdq1uvsi1
iem1
d/s1
idq2
idq2 edq2
vdq2uvsi2
iem2
d/s2
Bat.
mvsi1
ubat
ubat
itot ivsi2
Tem1
em2wheels
EVT sub-systemICE shaft
ICE-ref
mvsi2
vhev-refFtot-ref
kD
Fwh-refTtot-refidq2-refvdq2-refvvsi2-ref
idq1-refvdq1-refvvsi1-ref Tem1-ref
TEM1-ref
Tem1-ref
strategy SOCest, driver request
id2-refid1-ref
d/s1
d/s2
EMR for the development of the control
Simulation of a drive cycle (EUDC)Comparison of the EVT-based HEV with Toyota Prius II:• EVT-based vehicle has more consumption• all operation modes and dynamics are possible• efficiency should be increased at high velocity• EVT has to be re-design in that objective
- HEV using Electric Variable Transmission -
[Cheng & al. 2011]
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
A graphical description could be a valuable stepto respect physics’ principle and to organize the control …
such as EMR
Energetic systems require new tools and more interactions
Interaction between Academics and Industry is a key issue…such as MEGEVH
95Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
Coimbra – PortugalUNESCO Wold Heritage
October 27-30, 2014
http://www.vppc2014.org
IEEE Vehicle Power and Propulsion Conference““Spreading ESpreading E--Mobility EverywhereMobility Everywhere””
Organization:
Supported by:
Digests deadline: 3131thth March 2014March 2014
Notification deadline: 1818thth May 2014May 2014
Final paper deadline: 0101thth July 2014 July 2014
Conference in a Carbon Care Philosophy
We will be pleased to Welcome you in We will be pleased to Welcome you in Coimbra!Coimbra!
EMR seminarUniversitatPolitècnica de CatalunyaNov. 2013
ReferencesReferences
97Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
[Allègre 09] A. L. Allègre, A. Bouscayrol, P. Delarue, P. Barrade, E. Chattot, S. El Fassi, “Energy Storage System with supercapacitor for an innovative subway", IEEE transactions on Industrial Electronics, vol. 57, no. 12, pp. 4001-4012, December 2010 (common paper of L2EP Lille, EPF Lausanne and Siemens Transportation Systems).
[Boulon 10] L. Boulon, D. Hissel, A. Bouscayrol, O. Pape, M-C Péra, “Simulation model of a Military HEV with a Highly Redundant Architecture", IEEE transactions on Vehicular Technology, Vol. 59, no. 6, pp. 2654-2663, July 2010 (common paper of FEMTO-ST, L2EP Lille and Nexter Systems within MEGEVH, French network on HEVs)
[Boulon 13] L. Boulon, A. Bouscayrol, D. Hissel, O. Pape, M-C Péra, “Inversion-based control of a highly redundant military HEV", IEEE transactions on Vehicular Technology, vol. 62, no. 2, February 2013, pp. 500-5010 (common paper of IRH-Univ Québec Trois-Rivières, L2EP Lille, FEMTO-ST and Nexter within MEGEVH, French network on HEVs)
[Bouscayrol 03] A. Bouscayrol, "Formalismes de représentation et de commande des systèmes électromécaniques multimachines multiconvertisseurs", (text in French) HDR Univ. Lille1, déc. 2003.
[Chan 07] C.C. Chan: "The state of the art of electric, hybrid, and fuel cell vehicles“, Proc. of the IEEE, April 2007, Vol. 95, No.4, pp. 704 - 718.
[Chan 10] C. C. Chan, A. Bouscayrol, K. Chen, “Electric, Hybrid and Fuel Cell Vehicles: Architectures and Modeling", IEEE transactions on Vehicular Technology, vol. 59, no. 2, February 2010, pp. 589-598 (common paper of L2EP and Honk-Kong Univ.).
[Chen 08] K. Chen, A. Bouscayrol, A. Berthon, P. Delarue, D. Hissel, R. Trigui, “Global modeling of different vehicles, using EMR to focus on system functions and system energy properties”, IEEE Vehicular Technology Mag., vol. 4, no. 2, June 2009, pp. 80-89 (common paper L2EP, FEMTO and INRETS within MEGEVH network)
[Cheng 11] Y. Cheng, R. Trigui, C. Espanet, A. Bouscayrol, S. Cui, " Analysis of Technical Requirements from the Toyota Prius II for the Design of a PM-EVT”, IEEE transactions on Vehicular Technology, vol. 60, no. 6, pp. 4106-4114, November 2011 (common paper L2EP Lille, LTE-INRETS, FEMTO-ST and Harbin Institute of Technology, within MEGEVH,)
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98Barcelona, November 2013
«« Study of energetic systems using EMR Study of energetic systems using EMR »»
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[Eshani 05] M. Eshani, Y. Gao, S. E. Gay, A. Emadi, "Modern electric, hybrid electric and fuel cell vehicles", CRCPress, New York, 2005.
[Lhomme 08] W. Lhomme, R. Trigui, P. Delarue, B. Jeanneret, A. Bouscayrol, F. Badin, "Switched causal modeling of transmission with clutch in hybrid electric vehicles”, IEEE Trans. on Vehicular Technology, Vol. 57, no. 4, July 2008, pp. 2081-2088, (common paper L2EP, LTE-INRETS in the framework of MEGEVHnetwork)
[Letrouvé 13] T. Letrouvé, W. Lhomme, A. Bouscayrol, N. Dollinger, “Control validation of Peugeot 3∞8 Hybrid4 vehicle using a reduced-scale power HIL simulation", Journal of Electrical Engineering and Technology, September 2013, vol. 8, no. 5, pp. 1227-1233 (common paper of L2EP Lille, and PSA Peugeot Citroën within MEGEVH)
[Salmasi 07] F. R. Salmasi, "Control strategies for Hybrid Electric Vehicles: evolution, classification, comparison and future trends", IEEE Trans. on Vehicular Technology, September 2007, Vol. 56, No. 3, pp. 2393-2404.
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[Verhille 07] J. N. Verhille, A. Bouscayrol, P. J. Barre, J. P. Hautier, “Validation of anti-slip control for a subway traction system using Hardware-In-the-Loop simulation”, IEEE-VPPC’07, Arlington (USA), September 2007 (common paper L2EP Lille and Siemens Transportation System).
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