Séminaire ASPROM
Paris
Nov. 2011
http://l2ep.univ-lille1.fr/megevh.htm
« GENERALITIES ON
ELECTRIC VEHICLES (EVs) &
HYBRID ELECTRIC VEHICLES (HEVs) »
Prof. A. BOUSCAYROL, Dr. R.TRIGUI
L2EP, University Lille1, LTE, IFSTTAR,
MEGEVH network,
Alain.Bouscayrol@univ-lille1.fr
Rocdi.Trigui@ifsttar.fr
1
based on MEGEVH tutorial
at IEEE-VPPC 2009
Aalto University 2011
EVs &
HEVs
- MEGEVH network Lille
LAMIH
Valenciennes
(Energy management of
Hybrid Electric Vehicles)
http://l2ep.univ-lille1.fr/megevh.htm
Paris
LTN
Belfort
Lyon
Bordeaux
Laplace
LTE
Coordination:
Prof.A. Bouscayrol
7 industrial partners
10 academic Labs
Toulouse
2
Paris, 2011
EVs &
HEVs
- MEGEVH philosophy Theoretical level
MEGEVH-macro
Development of methodologies
of modelling and
energy management
MEGEVH-strategy
independently of
the kinds of vehicles
MEGEVH-optim
MEGEVH-FC
MEGEVH-store
• co-supersized PhD
• collaboration projects
HEV 1
Vehicle level
HEV n
• 7 PhD Defended
• 6 PhD in progress
• EMR as common tool
• generic model of HEV (Prize)
Paper Prize Award of
IEEE-VPPC’08
3
Paris, 2011
EVs &
HEVs
- Experimental platform, and vehicles -
platform « eV »
Real-time energy management
platform
« storage devices »
platform « propulsion »
LTE
Toyota Prius II
LTE
DPE 6x6
3008 HY4
4
Paris, 2011
EVs &
HEVs
- Outline 1. CONTEXT OF EVs AND HEVs
2. DIFFERENT KINDS OF EVs AND HEVs
3. KEY ISSUES OF EVs AND HEVs
4. EXAMPLES OF RESAERCH PROJECTS
REFERENCES
5
Paris, 2011
Séminaire ASPROM
Paris
Nov. 2011
1. Context of EVs & HEVs
• Global warming
• Petroleum resources
• Thermal Vehicle
6
Aalto University 2011
EVs &
HEVs
- Source of Green House Gases light vehicles 50%
Transport
Industrial Process
Zero Emission Vehicles
(ZEV)
for environmental concern
Agricultural
Residential/trade
Energy production
Waste
0%
5%
http://www.citepa.org/
10%
15%
20%
http://www.ifen.fr/
25%
7
Paris, 2011
EVs &
HEVs
- Petroleum consumption Gb / day
consumption
production
2015
ASPO: Association for the Study of Peak Oil
AIE: International Agency of Energy
http://www.manicore.com/
2040
Peak Oil
8
Paris, 2011
EVs &
HEVs
- Thermal Vehicle -
low efficiency
Fuel tank
differential
IC
Engine
great autonomy
driven
wheels
fast energy charge
pollution emission clutch and
gearbox
no energy recovery
ICE
gearbox
differential
wheels
chassis
environment
Fuel tank
accelerator
MMS description
clutch
gear ratio
9
steering wheel
Paris, 2011
EVs &
HEVs
- Gasoline engine Pmax=60 ch (45 kW) @ 3750 rpm Tmax=119 Nm @ 3400 rpm
( 1700 cm3 )
Efficiency map
Torque (Nm)
Iso specific consumption (g/kWh )
Speed (rpm)
10
Paris, 2011
EVs &
HEVs
- Power of a thermal vehicle -
ICE Power (kW)
Example of an urban drive cycle
Pmax= 60 kW
oversizing
Pmean= 15 kW
P<0
t (s)
Energy loss
http://www.inrets.fr/
Interest of a system which:
• delivers peak power at high efficiency
• enables energy recovery
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Paris, 2011
EVs &
HEVs
- Pollution of a thermal vehicle Example of a highway drive cycle
CO (g/s)
speed (m/s)
P<0
78% of pollutant emissions
during 14 % of the cycle
http://www.inrets.fr/
Interest of a system which:
• enables transients at high
efficiency and low emission
t (s)
12
Paris, 2011
EVs &
HEVs
- Operation of an ICE Torque
(Nm)
Urban drive cycle / iso-consumption map
Speed
(rpm)
http://www.inrets.fr/
mean efficiency 12%
(88% of losses!!)
13
Paris, 2011
EVs &
HEVs
- Operation of an ICE Torque
(Nm)
Extra-urban drive cycle / iso-consumption map
Speed
(rpm)
http://www.inrets.fr/
mean efficiency 20%
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Paris, 2011
EVs &
HEVs
- Future Vehicles? -
• Thermal vehicle with bio-fuels
(coupling energy & food? water requirement? Etc)
• Electric Vehicles
(production of electricity? autonomy reduction? Etc)
• Hybrid Electric vehicles
(increase of prize? need of fossil fuel? Etc)
No ideal
and unique
solution
• Fuel Cell Vehicle
(increase of prize? hydrogen production? Etc)
• Etc.
but also
• A more reasonable mobility!
(reduction of travels? Increase of common transport? Etc.)
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Séminaire ASPROM
Paris
Nov. 2011
2. Different kinds of EVs & HEVs
• Electric Vehicles
• Hybrid Electric Vehicles
• Fuel Cell Vehicles
16
Aalto University 2011
EVs &
HEVs
- Electric vehicle -
high efficiency
Battery
no local emission
power
electronics
energy recovery
neither
clutch
low
autonomy
no gearbox
electric
machine
long energy charge
drive Unit
power
electronics
electrical differential
machine
wheels
environment
Battery
MMS description
chassis
17
accelerator
steering wheel
Paris, 2011
EVs &
HEVs
- Thermal and Electric Vehicles -
fuel
thermal
engine
TM
Thermal Vehicle:
- pollution
- low efficiency
Think city
Battery
PE
electric
machine
Electric Vehicle:
- long charge
- low autonomy
http://www.thinkev.com/
18
Paris, 2011
EVs &
HEVs
- Hybrid Electric Vehicles -
thermal
engine
fuel
TM
Battery
PE
electric
machine
Hybrid vehicle:
- advantage of each technology
- higher cost
- complex control
Toyota Prius 3
Various configurations:
• Different power ratios PICE/PEM
• Different component organization
http://www.toyota.com/
Peugeot 3008 HY4
19
http://www.mpsa.com
Paris, 2011
EVs &
HEVs
- HEVs or EVs? Kangoo electroroad RE
Range extender EV
= EV + ICE for
higher mileage
range
ICE EM
fuel
Battery
PE
electrical
machine
http://www.renault.fr
Chevrolet Volt
IC
engine
fuel
MT
Battery
PE
electrical
machine
Plug-in HEV:
= HEV + charger
+ plug
http://www.chevrolet.com//
20
Paris, 2011
EVs &
HEVs
- Fuel Cell vehicles? -
H2
FC
PE
electrical
machine
Fuel cell vehicle :
= EV with battery replaced by
a fuel cell and a H2 tank
Honda Clarity FX
http://www.honda.com/
H2
FC
PE
Battery
electrical
machine
FC vehicle with
hybrid storage
= another kind of RE-EV
21
Paris, 2011
EVs &
HEVs
- HEV classifications • Architecture classification (power flow)
fuel
- series HEVs (electric power node)
wheels
bat.
- parallel HEVs (mechanical power node)
- series/parallel HEVs
fuel
wheels
bat.
(electric and mechanical power node)
fuel
wheels
bat.
• Power ratio classification (thermal and electric power)
electrical power
TV
micro
HEV
mild
HEV
full
HEV
EV
22
thermal power
[Chan 07] [Emadi 07]
Paris, 2011
EVs &
HEVs
- Architecture bases Parallel HEV
BAT
BAT
EM
EM
?
ICE
ICE
Fuel
mechanical node
Fuel
Series HEV BAT
electrical node
BAT
EM
EG
power flows
ICE
Fuel
Series Parallel HEV
EM
EG
ICE
Fuel
23
Paris, 2011
EVs &
HEVs
- Operation modes TV
ICE
• Thermal traction
• Internal battery charge (from ICE)
• Stop and Go (electrical starter)
• Regenerative braking
more
electric
power
ICE
EM
ICE
EM
ICE
EM
ICE
EM
• Boost (electric support)
• Electric traction (Zero Emission)
EM
EV
• External battery charge (Plug-in HEV)
24
Paris, 2011
EVs &
HEVs
- Consumption reduction source: VALEO (http://www.valeo.com/)
Hybridization functions
-20-30%
-15-20%
City - 25%
NEDC - 6%
- 12%
MICRO - MILD
HYBRID
MILD
HYBRID
FULL HYBRID
and PLUG-INs
MICROHYBRID
Electric
Drive
Torque Assistance
Regenerative Braking
Stop & Start
Stop-Start: basis of hybridization for mass production affordable solutions 25
Paris, 2011
Séminaire ASPROM
Paris
Nov. 2011
3. Key issues of EVs & HEVs
• Energy Storage Subsystems
• Energy Management
• Societal changes
26
Aalto University 2011
EVs &
HEVs
- Prius, success story Complex control
Mechanical power path
Electrical power path
Battery Ni-MH
High energy density
ECU
Generator
Inverter
Boost
Battery
Engine
Motor
Power split
High efficiency
Power electronics
Véhicule PRIUS II
http://www.toyota.com/
Permanent Magnet
Synchronous Machines
27
Paris, 2011
EVs &
HEVs
- Well to Wheel analysis -
HEV
?
Coal
Coal
Natural Gas
wood
Nuclear
EV
Wind
g CO2 / km
28
Paris, 2011
EVs &
HEVs
- Energy sources SuperCaps
hybrid storage?
fly
wheel
Power density
(W/kg)
~ acceleration,
charge time
no recovery
energy
?
batteries
petrol
+
thermal
engine
H2
+
Fuel
Cell
[Chan 2008]
Energy density (Wh/kg)
~ mileage range
29
Paris, 2011
EVs &
HEVs
- Energy charge • slow charge at home
/ at work (4-8h?)
(plug or induction)
• ultra-fast charge at specific
station (1/2h?)
• battery swap station
(5-10 min?)
http://france.betterplace.com/
New technologies and developments? “Smart” charge?
but also
A new way to manage our energy charge?
30
Paris, 2011
EVs &
HEVs
- Impact on the grid G2V
http://my.epri.com
V2G
(Vehicle to Grid)
New concepts for grid management?
but also
A new way to manage our energy price?
31
Paris, 2011
EVs &
HEVs
- Day trip Analysis daily trip > 60 km
Average values of
daily trips in
Europe in 2007
20%
50%
30%
20 km < daily trip < 60 km
daily trip < 20 km
Mileage range of a classical EV = 100 to 150 km
Possible uses of EVs?
but
A new way to manage our mobility?
32
Paris, 2011
Séminaire ASPROM
Paris
Nov. 2011
4. Examples of research projects
• Energy Storage Subsystems
• Energy Management
• Societal changes
33
Aalto University 2011
EVs &
HEVs
- Double parallel HEV -
Front electric
machine
new concept
Rear electric
machine
cl.
DC/DC
energy
management?
HV Battery
ICE
LV load
LV Battery
1
Simulation of various cases
and energy management
EMR and
control
MS ar
m
h
a
c
h
1
MS av
implementation
on prototypes
3
m
h
a
c
h
2
2
SE
C
m
t
h
k
b
o
î
t
e
pemb
C
m
t
h
r
e
f
Vb
atBT
SM
F
r
e
s
SM
SE
Env.
v
v
é
h
M. th
Frein
SM
Cfrein-ref
MCC
dem
3
1
k
d
e
m
k
d
e
m
5
2
B
l
o
q
u
é
SE
mhac
hDC/
DC
4
Ωarbre-ref
Vbat-BT-ref
Krep-av G/D
v
r
e
f
Krep-av Mth/melav
vvéh-ref
[Letrouvé & al. 2011]
Pa
tin
ag
e B
l
o
q
u
é
Krep frein
34
Krep av/ar
Krep-ar G/D
Paris, 2011
EVs &
HEVs
- Double parallel HEV Rése
au
et
Ubat DEM Cde
Ωem
Ibat-bt
m
bt
Modelling
Stock
. Ubat
I
-htaltd
I
emmel
Elec
Description
b
ALT
Ccp
DE Calt C/P
ME
Ω
Ωem
M demaltd
L em
b
AR
Mot
Cmt EM Cem
Cbv
Ther hΩem B b B.V.
Ω
Ω
bv
rou
m. b
Véh.
e
Cmel Crab Ccra
Cred
ΩredRed. Ωrou
Ωcra ot bot
e
bot
Control
Simulation
Emulation
Prototype
Conducteur
135
24
Fr
ef
SimVHP
STRATEGI
E
HIL
simulation
35
Paris, 2011
EVs &
HEVs
- High-redundancy HEV Bat1
traction
current (A)
Bat1
iL1
ih1
iL1
uh1
uC1
double generator
gen
Tice
gen
gen
Ttot
Tg1
ICE
Tice-ref
mh1
ig1
DC buses
itot1
uC1
uC1
iMT1
double-machine drive
uC1
uvsi1
6
im1
itot1
uC2
itot3
Vbat2
iL2
iL2
uh2
[Boulon & al. 2010]
ih2
mh2
uC2
Res
iMT2
chassis
em1 gear
Ttot
uvsi2
uC2
uC2
im2
Tm2
Tgear
wh
Fwh
vhev
Fbk
Ftract
Ftot
vhev
6
vhev
Environ.
vhev
Fres
vhev
Brake
6
uC2
Res
wheel and brake
gear
Tg2-ref
Res
Tm1
ig2
Tg2
Bat2
im1
mvsi1
uC1
Tg1-ref
Res
Bat1
connections
Vbat1
Res
ICE
tank
battery sets
Res
itot2
mvsi2
im2
em2
gear
Fbk-ref
36
Paris, 2011
EVs &
HEVs
- High-redundancy HEV connections
battery sets
Vbat1
iL1
ih1
iL1
uh1
uC1
Bat1
double generator
gen
Tice
gen
gen
Ttot
itot1
uC1
ig1
Tg1-ref
uC1
uvsi1
im1
Tm1
6
iMT1
em1 gear
im1
itot1
mvsi1
Ttot
Tgear
gear
uC2
itot3
Tg2-ref
uvsi2
uC2
uC2
im2
Vbat2
iL2
iL2
uh2
Tg2-ref
Tg1-ref
kD
uC2
ih2
mh2
iMT2
vhev
6
vhev
Environ.
vhev
Fres
vhev
itot2
mvsi2
em2
im2
gear
Fbk-ref
Tm2-ref
Tm1-ref
uvsi1-ref
Twh1-ref
kD4
Twh1-ref
im1-ref
Fwh-ref
Ftot-ref
kD3
Ftract-ref
vhev-ref
kD2
itot3-ref uC2-ref
ig2-meas
m2-ref
uh2-ref
m1-ref
iL2-ref
Ftract
Ftot
Brake
uC2
ih2-ref
vhev
Fbk
Tm2
uh2-ref
iL2-ref
Fwh
wh
6
Bat2
Ttot-ref
uC1
chassis
wheel and brake
ig2
Tg2
gen-ref
double-machine drive
uC1
Tg1
ICE
Tice-ref
mh1
DC buses
ih2-ref
itot3-ref
ig2-meas
strategy
uC2-ref
37
[Boulon & al. 2010]
Strategy = coordination of subsystems
Paris, 2011
EVs &
HEVs
- Electric Variable Transmission -
+
EM1
Enable a continuous variation
of rotation speeds and torques
_
EM2
Optimization of ICE
speed and torque
38
Paris, 2011
EVs &
HEVs
- HEVs using EVT -
• Design of an PM-SM EVT for Toyota Prius II
• Control of the EVT-HEV
• Comparison with Toyota Prius II
DC bus
Parallel
Connection
Inverters
us2
vdc
PM-SM EVT
iinv2
LTE
Induction machines
θd/s2
is2
ms2_ref
vs2_dq
is2_dq
Tem2
is2_dq
es2_dq
ΩEM2
TICE
iinv
iinv1
Vehicle speed (km/h)
vdc
100
is1
ms1_ref
50
W
ICE
PM+PM
W
0
0
Veh.
us1
400
600
800
1000
PWM
us1_ref
500 Machines Speed - EM2 (rad/s)
t(s)
70
200
400
600
800
ms2_ref
vs1_dq
is1_dq
is1_dq
es1_dq
60
vhev
vs1_dq _ref
is1_dq _ref
ΩEM2
vhev
Fres
ΩEM2
ΩEM1
FOC
ΩICE_ref
PWM
us2_ref
Ftot
TEM1
Tem1_ref
Tem1_ref
Tem1_ref
Ttot_ref
Tem2_ref
1000
SOC(%)
Ttot
TEM1
TEM1
Ω
TICE_refICE
TICE_ref
0
-500
0
θd/s1
ΩICE
t(s)
200
Chassis Environ.
Trans.
Wheels
Shaft of ICE
vdc
150
Mechanical
coupling
vhev_mea
Ftot_ref
vhev_ref
FOC
vs2_dq _ref
is2_dq _ref
50
40
0
[Cheng & al. 2011]
t(s)
200
400
600
800
1000
Energetic Macroscopic Representation
and control of the EVT-HEV
39
Paris, 2011
EVs &
HEVs
- EVs using hybrid ESS EV suing
batteries
EV using
Scaps.
Coût
Durée
de vie
P massiq.
P massiq.
P massiq.
E
massiq.
EV using
batteries and Scaps.
E
massiq.
Durée
de vie
Recyclab.
E
massiq.
Coût
Recyclab.
Durée
de vie
Recyclab.
Sécu.
Sécu.
Sécu.
Coût
40
LTE
[Allègre 2010]
Paris, 2011
EVs &
HEVs
- EVs using hybrid ESS Start
Arrival
vmes
Velocity (m/s)
10
5
0
0
50 100
150 200
Voltage
(V)250 300 350
ubatt 200
uscp
100
Curents (A)
ibatt 200
iscp
0
=
LTE
ME
Batt
Ni-CD
~
=
-200
0
100
200
300
t(s)
L1
Scps
=
Test only for ZEV mode
Scap chargin
At standstill
Soft
commutation
41
The simplest strategy
Paris, 2011
Séminaire ASPROM
Paris
Nov. 2011
Conclusion
Technology will not save Automotive industry!
The mobility concepts have to be changed!
HEVs and EVs could be valuable complementary vehicles
a limited mileage range could be…
a chance…
… forward a more reasonable use of our mobility!
42
Aalto University 2011
Séminaire ASPROM
Paris
Nov. 2011
References
43
Aalto University 2011
EVs &
HEVs
- References (1) -
[Allègre 09] A. L. Allègre, A. Bouscayrol, R. Trigui, “Influence of control strategies on
battery/supercapacitor Hybrid Energy Storage Systems for traction applications", IEEEVPPC’09, Dearborn (USA), September 2009,(common paper L2EP Lille and LTE-INRETS in
the framework of MEGEVH network)
[Boulon 09] L. Boulon, D. Hissel, M. C. Pera, A. Bouscayrol, O. Pape, “Energy based modeling of a
6 wheel drive hybrid heavy truck", IEEE-VPPC’09, Dearborn (USA), September 2009 (common
paper FEMTO-ST, L2EP Lille and Nexter Systems in the framework of MEGEVH network)
[Bouscayrol 03] A. Bouscayrol, "Formalismes de représentation et de commande des systèmes
électromécaniques multimachines multiconvertisseurs", HDR de l'Université de Lille 1,
décembre 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 09] C.C. Chan, Y. S. Wong, A. Bouscayrol, K. Chen, "Powering Sustainable Mobility:
Roadmaps of Electric, Hybrid and Fuel Cell Vehicles", Proceedings of the IEEE, to be published
in vol. 97, no. 4, April 2009, (common paper University of Hong-Kong and L2EP Lille).
[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 Lille and Honk-Kong University).
[Chen 08] K. Chen, A. Bouscayrol, A. Berthon, P. Delarue, D. Hissel, R. Trigui, “Global modeling
of different vehicles, using Energetic Macroscopic Representation to focus on system functions
and system energy properties”, IEEE Vehicular Technology Magazine, vol. 4, no. 2, June 2009,
pp. 80-89 (common paper L2EP Lille, FEMTO-ST and LTE-INRETS according to MEGEVH
project)
[Cheng 09] Y. Cheng, K. Chen, C.C. Chan, A. Bouscayrol, S. Cui, “Global modelling and control
strategy simulation for a Hybrid Electric Vehicle using Electrical Variable Transmission”, IEEE 44
Vehicular Technology Magazine, vol. 4, no. 2, June 2009, pp. 73-79 (common paper Harbin
Institute of technology and L2EP Lille)
Paris, 2011
EVs &
HEVs
- References (2) -
[Emadi 05] A. Emadi, K. Rajashekara, S. S. Willaimson, S.M. Lukic, “Topological overview of
Hybrid Electric and Fuel Cell vehicula power systems architectures and configurations”, IEEE
Trans. on Vehicular Technology, May 2005, Vol. 54, No. 3, pp. 763-770.
[Eshani 05] M. Eshani, Y. Gao, S. E. Gay, A. Emadi, "Modern electric, hybrid electric and fuel cell
vehicles", CRC Press, 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 Transaction on
Vehicular Technology, Vol. 57, no. 4, July 2008, pp. 2081-2088, (common paper L2EP, LTEINRETS in the framework of MEGEVH network)
[Mi 09] C. Mi, “Plug-in hybrid electric vehicles - Power electronics, battery management, control,
optimization, and V2G”, IEEE-ISIE’09, Seoul, July 2009.
[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..
[Scordia 2009] J. Scordia, R. Trigui, M. Desbois-Renaudin, B. Jeanneret, F. Badin, “Global
Approach for Hybrid Vehicle Optimal Control”, Journal of Asian Electric Vehicles. Volume 7,
Number 1, June 2009.
[Vinot 08] E. Vinot, J. Scordia, R. Trigui, B. Jeanneret, F. Badin, “Model simulation, validation and
case study of the 2004 THS of Toyota Prius”, International Journal of Vehicle System
Modelling and testing,
Vol. 3, No 3, pp. 139-167, 2008.
45
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