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1
Helsinki, May 2011
HEVs & EMR
2011
Fuel cell vehicle in EMR
L. Gauchia, A. Bouscayrol, J. Sanz, R. Trigui and P. Barrade
2
Helsinki, May 2011
HEVs & EMR2011 -- Interest on FCV Interest on FCV --
Internal combustion engine vs. electric propulsion
www.maxwell.com
www.techchunks.com
www.hel.calpody.edu
www.techchunks.com www.maxwell.com
www.maxwell.comwww.hel.calpody.edu
Batt
Batt+SC
FC+SC
FC+Batt+SC
www.techchunks.com
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Helsinki, May 2011
HEVs & EMR2011 -- Interest on FCV Interest on FCV --
Internal combustion engine vs. electric propulsion
www.greenwheelstacoma.com
4
Helsinki, May 2011
HEVs & EMR2011 -- Interest on FCV Interest on FCV --
Internal combustion engine vs. electric propulsion
RAGONE DIAGRAM
Pb batteriesNi batteries
Li batteries
Supercapacitors
Fuel cell
ICE
Specific power(W/kg)
Specific energy (Wh/kg)
5
Helsinki, May 2011
HEVs & EMR2011 -- Interest on FCV Interest on FCV --
Internal combustion engine vs. electric propulsion
[Thounthong 09]
6
Helsinki, May 2011
HEVs & EMR2011 -- FCV topologiesFCV topologies--
Hybrid energy system topology
BDC
/DC
FC SCInv+
EM
BFC SC
Inv+
EM
DC/
DC
BFCSC
Inv+
EM
DC/
DC
BFC
SC
Inv+
EM
DC/
DC
DC/
DC
DC/
DC
DC/
DC
DC/
DC
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Helsinki, May 2011
HEVs & EMR2011 -- FCV topologies FCV topologies --
Hybrid energy system topology
DC/
DCBAT
FC
SC
DC/
DC
DC/
DC
Vve
Fres
DCM
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Helsinki, May 2011
HEVs & EMR2011
• Action – reaction principle
• Respect causality
• Inversion principle
-- FCV using EMR FCV using EMR --
EMR basics
v1
VDC
i
i1
i2
ES
p=VDC i
[Bouscayrol 00]
Allows to methodically:
Model multi-physical elements
Design control schemes
Design control strategies
ES
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Helsinki, May 2011
HEVs & EMR2011
• Passive non-controllable system
-- FCV using EMR FCV using EMR --
Fuel cell representations
iFC
+
uFC
-
E E0 RT2F
lnpH 2 pO2
pH2O
ddt
pH2
RTVan
qH2
in qH2
out qH2
r
qH2
r NI2F
qH2
out kH2pH2
FCuFC
iFC
[Gauchia 09]
10
Helsinki, May 2011
HEVs & EMR2011
• Simplified controllable system
-- FCV using EMR FCV using EMR --
Fuel cell representations
Controlled to fulfill objective:Avoid O2 starvationMaximum efficiency
…
pH2
qO2 r
H2
O2
Tº
uFC
iFC
qH2 ref
qO2 ref
pO2
pO2qO2 in
pH2
qH2 in
qH2 rE
iFC
Tº ΔS
udl idl
FCuFC
iFC
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Helsinki, May 2011
HEVs & EMR2011 -- FCV using EMR FCV using EMR --
Fuel cell model and representations
• More complex controllable system
FCuFC
iFC
[Boulon 10]
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Helsinki, May 2011
HEVs & EMR2011 -- FCV using EMR FCV using EMR --
Energy storage representations
• Battery
• Supercapacitors
BATTubatt
ibatt
+ubatt
-
ibatt
ibatt+
Ubat
-
+
Ubat
-
SCuSC
iSC
+
USC
-
iSC
[Gauchia 09]
13
Helsinki, May 2011
HEVs & EMR2011 -- FCV using EMR FCV using EMR --
Gearbox
Fl_whTl_wh
EnvironmentWheels ChassisDifferent.
Ftot
vev
ENV
vl_whTgear
Wdif
Wl_wh
Tr_wh
Wr_wh
Fr_wh
vr_wh
vev
Fres
DCMUbatt vev
Fres
Ufc
Usc
itotal
+
+=
=
DC-DCconverter DC machine
edcm
idcmUchop_dcm
idcm
Tdcm
Wgearm1
isc Uind_sc
Ubatt
Energy generationParallelcoupling
Uind_fc
ifc
m3
Ufc
ifc
Uscichop_sc
UbattBAT
FC
ichop_fc
Ubatt
ibatt
SCisc
m2
Ubatt
Ubatt
i1itotal
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Helsinki, May 2011
HEVs & EMR2011 -- FCV using EMR FCV using EMR --
Objective variable: vev
Tuning variable: m1
Constrain variables: none
Vehicle speed control
Gearbox
Fr_wh
Fl_whTl_wh
EnvironmentWheels ChassisDifferent.
Ftot
vev
ENV
vl_whTgear
Wdif
Wl_wh
Tr_wh
Wr_wh vr_wh
vev
Fres
DC-DCconverter DC machine
edcm
idcmUchop_dcm
idcm
Tdcm
Wgearm1
isc Uind_sc
Ubatt
Energy generationParallelcoupling
Uind_fc
ifc
m3
Ufc
ifc
Uscichop_sc
UbattBAT
FC
ichop_fc
Ubatt
ibatt
SCisc
m2
Ubatt
Ubatt
i1itotal
15
Helsinki, May 2011
HEVs & EMR2011 -- FCV using FCV using EMR EMR --
Energy generationParallelcoupling
Uind_fc
ifc
m3
Ufc
ifc
Usc
isc
ichop_sc
Ubatt
itotal
BAT
FC
ichop_fc
Ubatt
ibatt
SCisc
Uind_sc
m2
Ubatt
Ubatt
i1 Ubatt
Fl_whTl_wh
EnvironmentWheels ChassisDifferent.GearboxDC-DC
converter DC machine
Ftot
vev
ENV
vl_wh
edcm
idcmUchop_dcm
idcm
Tdcm Tgear
Wdif
Wl_wh
Tr_wh
Wr_wh
Fr_wh
vr_wh
Wgear
vev
Fresm1
Ubatt mes vev ref
kr
Tl_wh ref Frlwh refkw
Fres mes
vev mes
Ftot ref
Tr_wh ref Fr_wh ref
Tgear refTdcm ref
edcm mes idcm mes
idcm refUchop_dcm ref
[Bouscayrol 06]
16
Helsinki, May 2011
HEVs & EMR2011 -- FCV using FCV using EMR EMR --
Current distribution
Gearbox
Fr_wh
Fl_whTl_wh
EnvironmentWheels ChassisDifferent.
Ftot
vev
ENV
vl_whTgear
Wdif
Wl_wh
Tr_wh
Wr_wh vr_wh
vev
Fres
DC-DCconverter DC machine
edcm
idcmUchop_dcm
idcm
Tdcm
Wgearm1
isc Uind_sc
Ubatt
Energy generationParallelcoupling
Uind_fc
ifc
m3
Ufc
ifc
Uscichop_sc
UbattBAT
FC
ichop_fc
Ubatt
ibatt
SCisc
m2
Ubatt
Ubatt
i1itotal
17
Helsinki, May 2011
HEVs & EMR2011 -- FCV using FCV using EMR EMR --
itotal ibat ichop _ fc ichop _ sc
Current distribution
Objective variables: ifc , ibat
Tuning variables: m2, m3
itotal
MS
isc Uind_sc
Ubatt
Energy generationParallelcoupling
Uind_fc
ifc
m3
Ufc
ifc
Uscichop_sc
UbattBAT
FC
ichop_fc
Ubatt
ibatt
SCisc
m2
Ubatt
Ubatt
i1
Constrain variable: Ufc
18
Helsinki, May 2011
HEVs & EMR2011 -- FCV using FCV using EMR EMR --
itotal
MS
isc Uind_sc
Ubatt
Energy generationParallelcoupling
Uind_fc
ifc
m3
Ufc
ifc
Uscichop_sc
UbattBAT
FC
ichop_fc
Ubatt
ibatt
SCisc
m2
Ubatt
Ubatt
i1
Uind_fc ref
ifc mesm2
Ufc mes
Control ifc , ibat
ifc ref ibat ref
i1 ref
itotal mes
ichop_sc ref
ichop_sc mes
[Gauchia 11]
Uind_sc refisc ref
isc mes
Usc mes Ubatt mes
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Helsinki, May 2011
HEVs & EMR2011
• Fuel cell voltage constrain• Generate current references of battery and fuel cell • Ways to distribute:
– Medium frequencies: battery– Fuel cell current to obtain high efficiency
• Limitations:– Battery
• Voltage• State-of-charge (SoC)• Charge and discharge current
– Supercapacitor• Voltage• Charge and discharge current
– Fuel cell• Current• Current slew-rate
-- FCV using EMR: StrategyFCV using EMR: Strategy --
Strategy
20
Helsinki, May 2011
HEVs & EMR2011 -- FCV using EMR FCV using EMR --
Simulation results (with FC constrain)
0 50 100 150 200-5
0
5
10
15
20
25
30
35
ReferenceResult
vev (km/h)
t (s) (a)
0 50 100 150 200-15
-10
-5
0
5
10
15
20
25
(b)t(s)
Idcbus (A)
0 50 100 150 200-50
-40
-30
-20
-10
0
10
20
30
Ifc+convIuc+convIbatt (c)t(s)
I (A)
0 50 100 150 200100
102
104
106
108
110
112
114
(a)t(s)
Uuc (V)
0 50 100 150 20060
61
62
63
64
65
(c)t (s)
SoC (%)
21
Helsinki, May 2011
HEVs & EMR2011 -- Conclusions Conclusions --
• EMR is a useful tool for design, modelling and control of fuel cell vehicles.
• It allows to acquire a methodology, known and repeatable.
• EMR also allows to study more in-depth the control schemes and energy strategies
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Helsinki, May 2011
HEVs & EMR2011 -- References References --
[Boulon 10] L. Boulon, D. Hissel, A. Bouscayrol, and M.-C. Péra, “From modelling to control of a PEM fuel cell using energetic macroscopic representation”, IEEE Trans. Ind. Electron., vol. 57, no. 6, June 2010.
[Bouscayrol 00] A. Bouscayrol, B. Davat, B. de Fornel, B. François, J.P. Hautier, F. Meibody-Tabar and M. Pietrzak-David, “Multimachine multiconverter system: application for electromechanical drives”, Eur. Phys. J, Appl. Phys., vol. 10, no. 2, pp. 131-147, May 2000.
[Bouscayrol 06] A. Bouscayrol, W. Lhomme, P. Delarue, B. Lemaire-Semail, S. Aksas, "Hardware-in-the-loop simulation of electric vehicle traction systems using Energetic Macroscopic Representation", IEEE-IECON'06, Paris, November 2006.
[Gauchia 09] L. Gauchia, Nonlinear dynamic per-unit models for electrochemical energy systems. Application to a hardware-in-the-loop simulation. Doctoral Dissertation on Electrical Engineering. Advisor: Dr. J. Sanz, University of Carlos III, Madrid, Spain, December 2009.
[Gauchia 11] L. Gauchia, A. Bouscayrol, J. Sanz, R. Trigui, and P. Barrade, “Energetic macroscopic representation of a fuel cell-battery-supercapacitor hybrid electric vehicle”, IEEE VPPC, Chicago, EEUU, 2011 (Accepted for presentation)
[Thounthong 09] P. Thounthong, S. Raël, and B. Davat, “ Energy management of fuel cell/battery/supercapacitor hybrid power source for vehicle applications”, Journal of Power Sources, vol. 193, pp. 376-385, 2009.