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EMR’14CoïmbraJune 2014
Summer School EMR’14“Energetic Macroscopic Representation”
««EMR, inversionEMR, inversion--based control and based control and energy management of a Hybrid energy management of a Hybrid
LocomotiveLocomotive»»
Dr. Jérôme BAERT, Dr. Samir JEMEI, Prof. Daniel HISSEL, Samuel HIBON, Dominique HEGY
FEMTO-ST / FCLAB, University of Franche-Comte, FranceALSTOM Transport, Belfort, France
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«« EMR, IBC and energy management of a Hybrid LocomotiveEMR, IBC and energy management of a Hybrid Locomotive»»
- Outline -
1. Introduction
2. Modeling of the Hybrid Electric Locomotive
3. Fuzzy Logic Energy Management Strategy
4. Conclusions
EMR’14CoïmbraJune 2014
Summer School EMR’14“Energetic Macroscopic Representation”
IntroductionIntroduction
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• starting 2004,• more than 750 researchers & engineers• energy, micro-nano systems and time based
frequency research,• research excellence (AERES rank A+ -
French top rank).
• systems, equipments and services for the railway market,
• n°1 in the trams and subways market,• n°2 in the high speed trains market,• leader in diesel and electric locomotives
business.
- Partners of the project -
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- FEMTO-ST former research works based on EMR (transport) -
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«« EMR, IBC and energy management of a Hybrid LocomotiveEMR, IBC and energy management of a Hybrid Locomotive»»
- Context & problematic -
• Focus : freight locomotives• 90% of time used at less than 50% of maximal power (diesel generator set)
Interest for hybridization ??
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- Existing solutions -
• Series architecture,• 1.3 MW engine,• 6 DC traction motors,• LiFeP04 batteries.
Chinese Dongfeng 7G
• diesel hybrid• switcher locomotive platform,• 250 kW PEM Fuel Cell,• valve regulated lead-acid batteries.
American Railpower Green Goat
• Series architecture, diesel engine,• NiCd batteries,• ultra-capacitors, PEM fuel cell,• 4 electric engines
French Plathee Project
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- Considered case study -
• 60% less particles• 40% less NO• 15% less maintenance
EMR’14CoïmbraJune 2014
Summer School EMR’14“Energetic Macroscopic Representation”
Modeling of the Hybrid Electric Modeling of the Hybrid Electric LocomotiveLocomotive
BatteriesBatteriesUltraUltra--capacitorscapacitors
Diesel driven generator setDiesel driven generator setGlobal architectureGlobal architecture
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- Global architecture of the considered locomotive -
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«« EMR, IBC and energy management of a Hybrid LocomotiveEMR, IBC and energy management of a Hybrid Locomotive»»
- Modelling & PCS / batteries -
Hoppecke FNC-A 170 XR2 – NiCd Accumulator
Nominal voltage (V) 1.2
Nominal current (A) 34
Capacity (Ah) 170
Electrolyte Potassium hydroxide (KOH)
The model takes into account:•the voltage dynamics according to current variation,•the polarization voltage to model the non linear variations of the OCV with the SOC,•the exponential zone voltage to consider the NiCd hysteresis phenomenon.
•Charging phase :
•Discharging phase :
[REF] O. Tremblay and L.-A. Dessaint, Experimental Validation of a Battery Dynamic Model for EV Applications, World Electric Vehicle Journal, Vol. 3 - ISSN 2032-6653 - © 2009 AVERE.
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- Modelling & PCS / batteries -
Battery cell modelSmoothing inductance
DC/DC converter
Coulomb counter
Batteries
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«« EMR, IBC and energy management of a Hybrid LocomotiveEMR, IBC and energy management of a Hybrid Locomotive»»
- Modelling & PCS / batteries -
Experimental results (C5 rate tests)
-50°C
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- Modelling & PCS / ultracapacitors -
second range minute range
[REF] L. Zubieta and R. Bonert, Characterization of double-layer capacitors for power electronics applications, IEEE Transactions on Industry Applications, Vol. 36, No. 1, pp. 199 205, 2000.
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- Modelling & PCS / ultracapacitors -
[REF] L. Zubieta and R. Bonert, Characterization of double-layer capacitors for power electronics applications, IEEE Transactions on Industry Applications, Vol. 36, No. 1, pp. 199 205, 2000.
U-caps
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- Modelling & PCS / diesel engine -
[REF] Verdonck, N., Chasse, A., Pognant-Gros, P. and Sciarretta, A. , Automated Model Generation for Hybrid Vehicles Optimization and Control, Oil Gas Sci. Technol. Rev. IFP, Vol. 65, No. 1, pp. 115-132, 2010.
Fuel Air
Air
EMR
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- Modelling & PCS / diesel engine -
Control of delivered mechanical power through : •Incoming air flow•Incoming fuel flow
Fuel Air
Air
Naturally aspirated diesel engine
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- Modelling & PCS / diesel engine -
Salient pole synchronous electrical generator
Separated excitationbranch model
Electromechanical conversion
branch model
Estimation of:•electromotive force•load torque
DC source
DC bus
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- Modelling & PCS / diesel engine -
Complete diesel-driven generator set
Naturally aspirated diesel engine Salient pole synchronous machine
[REF] J. Baert, S. Jemei, D. Chamagne, D. Hissel, S. Hibon, and D. Hegy, “Energetic Macroscopic Representation of a Naturally Aspirated Engine coupled to a salient pole synchronous machine”, 8th IFAC PPPSC Conference, Vol. 8, No. 1, pp. 435-440, Toulouse, France, 2012.
Fuel Air
Air
DC source
DC bus
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- Modelling & PCS / global architecture -
(1) Diesel drivengenerator set
(2) Batteries
(3) Ultracapacitors
(4) Braking rheostat
(5) Bus capacitance
(6) Energy ManagementStrategy
(1)
(2) (3)
(4)
(5)
(6)
[REF] J. Baert, S. Jemei, D. Chamagne, D. Hissel, S. Hibon, and D. Hegy, “Modeling and Energy Management Strategies of a Hybrid Electric Locomotive“, IEEE Vehicle Power and Propulsion Conference (VPPC), pp.990-995, Seoul, Korea, 2012.
EMR’14CoïmbraJune 2014
Summer School EMR’14“Energetic Macroscopic Representation”
Fuzzy Logic Fuzzy Logic Energy Management StrategyEnergy Management Strategy
Structure of the EMSStructure of the EMSFuzzy Logic SupervisorFuzzy Logic Supervisor
ResultsResults
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- Structure of the EMS -
Goal?To share the power required on a given driving cycle performed by the locomotive between the different on-board sources, taking into account their own specifications.
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- Structure of the EMS -
Constraints ?
Ultra-capacitors NiCd BatteriesCharging time Second range Hour range
Discharging time Second range Hour rangeEfficiency 85% to 98% 70% to 85%
Power density (W/kg) 104 <103
Energy density (Wh/kg) 1 to 10 10 to 100
Life cycles 105 to 106 103
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«« EMR, IBC and energy management of a Hybrid LocomotiveEMR, IBC and energy management of a Hybrid Locomotive»»
- Structure of the EMS -
Constraints ?
Ultra-capacitors:•Limitation of the State Of Charge (SOC) between 50% and 100%,•control of the SOC according to the speed of the vehicle to use ultra-capacitors like a buffer.
Batteries:•Limitation of the State Of Charge (SOC) between 70% and 90%,•control of the SOC according to the acceleration of the vehicle to avoid an early discharge in the case of a cruise speed and to maintain the SOC at maximum level.
minmaxmaxref ucuc
max
vehucuc SOCSOC
vvSOCSOC
minmaxmaxref bbmax
vehbb SOCSOC
vvSOCSOC attattattatt
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- Structure of the EMS -
Diesel driven generator set:•Use of a Fuzzy Logic Supervisor to determine the power delivered by this source•Supply the low frequencies of the power mission with the batteries
IF is N
AND is P
THEN is P
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- Interval type-2 fuzzy logic -
Advantages :•Higher robustness / ability of management of uncertainty•Higher robustness versus driving cycle
-40 -30 -20 -10 0 10 20 30 400
0.2
0.4
0.6
0.8
1
x
y
Here : •7 linguistic variables defined by trapezoid, triangular and Interval membership functions: NH, NM, NL, Z, PL, PM, PH•Optimization of their positions by genetic algorithm in order to minimize the fuel consumption of the diesel-driven power generator
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- Interval type-2 fuzzy logic -
Power distribution (zoom on an part of a driving cycle)
EMR’14CoïmbraJune 2014
Summer School EMR’14“Energetic Macroscopic Representation”
ConclusionsConclusions
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- Interval type-2 fuzzy logic -
EMR enables : •Efficient power-flow-oriented modeling of various transportation vehicles•Successful management of multi-physics systems•Successful implementation of inversion based control•easy and efficient definition of power supervision strategies•Easy on-line validation (from simulation to first experimental implementation)
EMR side-features :•Easy management of multi-physical systems & different expert engineers•Re-use of the developed models (“physical causality” “inside”)
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International summer school