Aalto University
Finland
May 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
Aalto University
based on MEGEVH tutorial
at IEEE-VPPC 2009
Aalto University 2011
HEVs
& EMR
- Speaker & contributor -
Prof. Alain BOUSCAYROL
University of Lille 1, L2EP, France
Coordinator of MEGEVH, French network on HEVs
General Chair of IEEE-VPPC 2010, Lille France
Dr. Rochdi TRIGUI
IFSTTAR, LTE, France
Head of the “HEV group” of IFSTTAR
Member of the scientific committee of MEGEVH
IFSTTAR (ex INREST & LCP) Institut français des sciences et
technologies des transports, de l'aménagement et des réseaux
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HEVs
& EMR
- MEGEVH network Lille
LAMIH
Valenciennes
Paris
LTN
Belfort
Lyon
Bordeaux
Laplace
(Energy management of
Hybrid Electric Vehicles)
Coordination:
Prof.A. Bouscayrol
6 projects
6 PhDs in progress
4 PhDs defended
LTE
Toulouse
7 industrial partners
10 academic Labs
3
http://l2ep.univ-lille1.fr/megevh.htm
Aalto University 2011
HEVs
& EMR
- 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
• 6 PhD Defended
• 6 PhD in progress
• EMR as common tool
• generic model of HEV (Prize)
Paper Prize Award of
IEEE-VPPC’08
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HEVs
& EMR
- Experimental platform, and vehicles -
platform « eV »
Real-time energy management
platform
« storage devices »
platform « propulsion »
LTE
Toyota Prius II
LTE
DPE 6x6
3008 HY4
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HEVs IEEE
& EMR
VPPC 2010
Clean Tech for Transportation
September 1-3, 2010 — Lille, France
http://www.vppc2010.org/
IEEE Vehicle Power and Propulsion Conference
annual joint conference of IEEE-PELS and IEEE-VTS,
organized by MEGEVH
more than 360 registrations from 35 countries
5 Tutorials, 9 Keynotes,
167 oral presentations, 104 posters
15 exhibitors, 2 technical visits, 1 awareness forum
bon
r
a
s “c ction
u
l
p
”a
e
r
ca
Documents and videos available at:
http://www.vppc2010.org
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- Outline -
1. CONTEXT OF EVs AND HEVs
2. DIFFERENT KINDS OF EVs AND HEVs
3. KEY ISSUES OF EVs AND HEVs
REFERENCES
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Aalto University
Finland
May 2011
1. Context of EVs & HEVs
• Global warming
• Petroleum resources
• Thermal Vehicle
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Aalto University
Aalto University 2011
HEVs
& EMR
- Global « Warning »! average air-temperature
(northern hemisphere)
Green House Gases
Temperature variation（℃）
by thermometer
0.5
Average temp. in 1961～1990
0.0
-0.5
from tree rings，coral，・・・
-1.0
1000
Source: APRI report
industrial revolution
1200
1400
1800
1600
Year
2000
Source: IPCC Report
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- Source of Green House Gases 2003
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%
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& EMR
- Evolution of GHG in France -
km/ / day
CO2 (t)
CO2 (g/km)
particles (t)
NOx (t)
CO (t)
HC (t)
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http://www.inrets.fr/
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& EMR
- Petroleum resources Gb
+
2500
Discovery
reserves
2000
low consumption vehicle
for energy reserve concern
current
forecast
1500
Cumulative
Consumption
1000
500
Remaining
reserves
year
0
1970
[Ehsani & al 2005]
1980
1990
2000
2010
2020
2030
2040
2038
2050
supply
end
year
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& EMR
- 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
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& EMR
- Evolution of oil prices -
$ per barrel
120
100
80
60
40
20
0
1990
Price in August
1995
2000
2005
2010
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& EMR
- Thermal Vehicle -
Fuel tank
differential
IC
Engine
driven
wheels
clutch and
gearbox
low efficiency
pollution emission
fast energy charge
no energy recovery
great autonomy
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& EMR
- 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)
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& EMR
- Diesel engine Pmax= 90 ch (66 kW) à 4000 rpm
Tmax=214 Nm @ 1900 rpm
( 1997 cm3)
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- 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)
http://www.inrets.fr/
Energy loss
Interest of a system which:
• delivers peak power at high efficiency
• enables energy recovery
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& EMR
- 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)
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- Operation of an ICE Torque
(Nm)
Urban drive cycle / iso-consumption map
Speed
(rpm)
http://www.inrets.fr/
mean efficiency 12%
(88% of losses!!)
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& EMR
- 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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- 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 cost? need of fossil fuel? Etc)
No ideal
and unique
solution
• Fuel Cell Vehicles
(increase of cost? hydrogen production? Etc)
• Etc.
but also
• A more reasonable mobility!
(reduction of travels? Increase of common transport? Etc.)
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Finland
May 2011
2. Different kinds of EVs & HEVs
• Electric Vehicles
• Hybrid Electric Vehicles
• Fuel Cell Vehicles
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HEVs
& EMR
- Electric vehicle -
Battery
power
electronics
neither clutch
no gearbox
electric
machine
drive Unit
high efficiency
no local emission
low autonomy
energy recovery
long energy charge
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& EMR
- Example of EV Long charge
Full
Electric
Vehicle
High cost
Urban vehicles
limited range
Renault Kangoo (2001)
http://www.renault.fr
Range: 100 km
Maximal cruising velocity 100 km/h
Battery charge: 6h
Traction cost: 1€ / 100 km
Synchronous machine with field winding
of 22 kW
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- 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/
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& EMR
- 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
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http://www.mpsa.com
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& EMR
- HEVs or EVs? Kangoo electroroad RE
fuel
Range extender EV
= EV + ICE for
higher mileage
range
ICE EM
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//
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& EMR
H2
- Fuel Cell vehicles? -
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
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- HEVs definitions and uses -
• ICE vehicle: source for traction = fossil or bio fuel
• Electric Vehicle (EV): source for traction = electricity
• Hybrid vehicle (HV): two different energy sources for traction
• Hybrid Electric Vehicle (HEV): at least 1 electrical energy source
Classical uses:
- automotive application: HEV = ICE (fuel) + EM (Bat)
- railway application: HEV = external + internal energy source
Examples:
- EV (Battery + Scaps) ≠ HEV
- Tramway “Mitrac” (Supply rail + Scaps) = HEV
- Starter/Alternator for HEV = considered as HEV
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& EMR
- 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
bat.
wheels
• Power ratio classification (thermal and electric power)
electrical power
TV
micro
HEV
mild
HEV
full
HEV
EV
31
thermal power
[Chan 07] [Emadi 07]
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& EMR
- Basic Architectures 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
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& EMR
- Series HEVs Battery
Fuel tank
IC
Engine
electric
generator
power
electronics
electric
machine
drive Unit
ZEV mode
high autonomy
low efficiency
low emission
low consumption
energy recovery
high cost
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& EMR
- Example of a series HEV high drive train cost
Series
HEV
high battery size
high power
transportation systems
(train, truck, bus…)
high traction machine size
Mistubishi Canter HEV (1996)
Delivery vehicle
Maximum mass of 5.6 tons
Maximum cruising speed of 100 km/h
LPG Engine (200 km autonomy)
Synchronous generator (20 kW)
2 induction motors of 40 kW
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http://www.jari.or.jp/ja/denki/nakama/j-carmaker/mitsubisi/hev/canter.html
Aalto University 2011
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& EMR
- Parallel HEV -
Fuel tank
IC
Engine
Battery
electric
machine
power
electronics
drive Unit
high autonomy
medium emission
high cost
ZEV mode
low consumption
control
energy recovery
medium efficiency
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& EMR
- Example of a Parallel HEV -
Parallel
HEV
torque
addition
high autonomy
low consumption
few passenger cars
with low hybrid rate
high cost
Honda Insight (1999)
http://www.automobiles.honda.com/
2-seat vehicle (0.85 tons)
ICE: 49 kW at 5700 rpm
Permanent magnets
synchronous motor: 10 kW
consumption: 2.9 l/km
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HEVs
& EMR
- Series-parallel HEVs Fuel tank
Battery
electric
generator
IC
Engine
power
electronics
electric
machine
same
characteristics
more modes
Episcicloïdal power train
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& EMR
- Example of a series-parallel HEVs high autonomy
Series
Parallel
HEV
low consumption
most HEV
passenger cars
high cost
Toyota Prius II (2003)
http://www.toyota.com/
4-seat vehicle (1.2 ton)
ICE: 53 kW at 4500 rpm
Permanent magnets
synchronous motor: 33 kW
consumption: 3.5 l/km
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HEVs
& EMR
- Operation modes TV
ICE
• Thermal traction
• Internal battery charge (from ICE)
• Stop and Go (electrical starter)
• Regenerative braking
more
electric
power
• Boost (electric support)
• Electric traction (Zero Emission)
ICE
EM
ICE
EM
ICE
EM
ICE
EM
EM
EV
• External battery charge (Plug-in HEV)
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HEVs
& EMR
- Micro-Hybrid vehicles -
Fuel tank
IC
Engine
Battery
EM
power
electronics
http://www.sae.org/
drive Unit
Starter Alternator =
parallel (torque addition) HEV with a low power electrical machine
Stop and Go mode
medium consumption
medium emissions
42V compatibility
Low cost
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HEVs
& EMR
- Example of a micro-hybrid vehicle high autonomy
HEV
with
starteralternator
medium consumption
Intermediary step
light cost
Citroën C3 Sensodrive Stop & Start (2005)
http://www.citroen.com/
4-seat vehicle (1.1 ton)
ICE : 65 kW at 5250 rpm
starter alternator synchronous machine
with permanent magnets: 3.6 kW
consumption : 4.2 l / 100km
(gain of 10% on urban cycles)
automatic gearbox
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& EMR
- Plug-in HEV source: Toyota ( http://www.toyota.com/)
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HEVs
& EMR
- Power ratio classification electrical power
TV
micro
HEV
mild
HEV
full
HEV
EV
thermal power
Stop and Go
Boost + Energy recovery
Pure Electric Traction
ZEV mode)
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& EMR
- 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 44
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& EMR
- Pollution reduction source: Toyota ( http://www.toyota.com/)
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& EMR
- Basic HEV powertrains VSI1
BAT
Split HEV
Fuel
VSI2
EM1
R
ICE
C
EM2
S
Trans.
Planetary train
Ring
Carrier
Sun
46
[Chen 2008]
Aalto University 2011
HEVs
& EMR
- Basic HEV powertrains VSI1
BAT
series parallel
HEV
BAT
Series HEV
BAT
Parallel HEV
EM1
R
ICE
C
VSI2
EM2
S
VSI1
EM1
Fuel
Fuel
EM2
VSI1
EM1
VSI2
Trans.
ICE
VSI2
Fuel
Trans.
ICE
EM2
Trans.
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& EMR
- Other powertrains VSI1
BAT
Thermal Vehicle
BAT
Electric Vehicle
(EV)
H2
Fuel-Cell Vehicle
FC
Fuel
EM1
ICE
VSI2
EM2
VSI1
EM1
Fuel
Trans.
ICE
VSI2
EM2
VSI1
EM1
Fuel
Trans.
Trans.
ICE
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VSI2
EM2
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& EMR
- Main operation modes -
Source: http://www.hybridcenter.org
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& EMR
- Other Electric Vehicles -
New technologies are also used in various vehicles in order
to reduce the ecological footprint of transportation systems!
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Aalto University
Finland
May 2011
3. Key issues of EVs & HEVs
• Energy Storage Subsystems
• Energy Management
• Societal changes
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Aalto University 2011
HEVs
& EMR
- 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
Innovations from
Electrical Engineering!
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& EMR
- Prius, different gains -
53
http://www.toyota.com/
Aalto University 2011
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& EMR
- Well to Wheel analysis -
HEV
?
Coal
Coal
Natural Gas
wood
Nuclear
EV
Wind
g CO2 / km
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& EMR
- Electricity Production -
but
International Energy Agency 2005
www.iea.org
Wastes and
accident!!
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& EMR
- Energy sources SuperCaps
hybrid storage?
fly
wheel
Power density
(W/kg)
~ acceleration,
charge time
non-rechargeable
?
batteries
petrol
+
thermal
engine
H2
+
Fuel
Cell
[Chan 2008]
Energy density (Wh/kg)
~ mileage range
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& EMR
- Evolution of batteries 11 000 Wh/kg
Most promising
Technology for
EVs and HEVs
but
Fossil fuel
Lead acid
in commerce
in development
in research
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& EMR
- Batteries Management 0.2 – 0.6 kWh
Classical
HEV
never
discharged
Battery Energy
never
charged
1-2 kWh
Plug-in
HEV
6-12 kWh
30-40 kWh
EV
0
SOC
Charge sustaining
100
Charge depleting
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[Pélissier 2009]
Aalto University 2011
HEVs
& EMR
- Energy charge • slow charge at home
/ at work (4-8h?)
• ultra-fast charge at specific
station (1/2h?)
• battery swap station
(5-10 min?)
batteries swap station for Electric Bus
during the Olympic Games
Beijing 2008
New technologies and developments?
but also
A new way to manage our energy charge?
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& EMR
- 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?
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& EMR
- Complex control (example) BAT
Parallel HEV
fast subsystem
controls
slow system
supervision
VSI1
EM1
Fuel
EM1
control
ICE
Trans.
ICE
control
Trans
control
Energy management
(supervision/strategy)
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driver request
Aalto University 2011
HEVs
& EMR
Rule-based
Optimization
based
- Energy management methods deterministic
rule-based
fuzzy
rule-based
state machine / power follower/
thermostat control…
predictive / adpative /
conventional…
global
optimization
Dynamic programming / stochastic DP /
Game theory / Optimal control….
real-time
optimization
Robust control / Model predictive /
decoupling control / l control…
Energy management
(supervision/strategy)
[Salmasi 2007]
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driver request
Aalto University 2011
HEVs
& EMR
- Energy management? Efficient energy
management
• Reduction of energy consumption
• Reduction of local emissions
• Increase of the autonomy range
But more complex than for Thermal Vehicle
• multi-physical devices
• more power flows
• various interconnected subsystems
An energetic modeling is required
to take into account the different power flows
and the subsystem’s interactions
(for model-based control)
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& EMR
- 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?
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& EMR
- Fuel Cell Vehicle? -
ZEV mode
high autonomy
high efficiency
Battery
IC
fuel
Engine
cells
Fuel tank
hydrogen
electric power power
electronics
generator
electronics
electric
machine
supercap
low consumption
ay
d
a
w
No
s
high size
high battery lifetime
high cost
energy recovery
low safety
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HEVs
& EMR
- Imagine the future! -
Shell Eco Marathon
• distance 25.272 km
• mean speed 30 km/h
http://www.paccar.ethz.ch/
Prototype EPF Zurich
Mass: 32 kg
consumption: world record 1 litre / 5 400 km
PEM Fuel cell 900 W
Tank to wheel efficiency: 50%
2 in-wheel dc machines 150 W
Aerodynamics Cx: 0.075
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Aalto University
Finland
May 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!
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May 2011
References
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HEVs
& EMR
- 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", IEEE-VPPC’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
69
simulation for a Hybrid Electric Vehicle using Electrical Variable Transmission”, IEEE Vehicular
Technology Magazine, vol. 4, no. 2, June 2009, pp. 73-79 (common paper Harbin Institute
Aalto University 2011
of technology and L2EP Lille)
HEVs
& EMR
- References (2) -
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Aalto University 2011