Hardware--In--the--Loop simulation : hybrid locomotive ... · Hardware--In--the--Loop simulation :...

EMR’15LilleJune 2015

Summer School EMR’15“Energetic Macroscopic Representation”

HardwareHardware --InIn--thethe--Loop simulation : Loop simulation : HardwareHardware --InIn--thethe--Loop simulation : Loop simulation : hybrid locomotive Energy Storage hybrid locomotive Energy Storage

System behavior testsSystem behavior tests

Dr. Tony LETROUVE, Dr. Julien POUGETSNCF Innovation & Research Dep., MEGEVH network,

EMR’15, Lille, June 20152

«« HIL simulation : hybrid locomotive ESS behavior t estsHIL simulation : hybrid locomotive ESS behavior tes ts»»- Outline -

1. HIL simulation interest and structuring problematic

2. Power HIL simulation of PLATHEE locomotive

3. Conclusion and outlooks



HIL HIL simulation interest and structuring simulation interest and structuring problematicproblematic


«« HIL simulation : hybrid locomotive ESS behavior t estsHIL simulation : hybrid locomotive ESS behavior tes ts»»

Customer needs

Sizing and power flow studies

Prototype elaboration

- Actual approach -

Feasability response

Prototype development

Prototype behavior validation

Direct validation of component behavior in real time on vehicle,

Components homologation (hardware),

All physics phenomenon are taken into account.



Customer needs



Time to market

x2… x3 …

- Actual approach -




x2… x3 …

Cumulativedev. cost

Complex to develop, more than one prototype needed,

Time needed,

The development Cost is exponential with the time on prototype,

A lot of resources are needed (prototype, staffs and tracks availability),

unrepeatable tests,

Security and fault tolerance tests are made on-line.

Sizing Prototype



Customer needs


Time to market


- Actual approach -



Prototype behavior validation Cumulative dev. cost

Sizing PrototypeAdding intermediary steps:

Reduce the time on prototype (reduce the cost and time of development),

Virtual homologation of some subsystems ahead of time.

Solution : simulation?



Customer needs


Time to market

Simulation

With SimulationActual approachWith SimulationActual approach

Component library

development using EMR

(common tool, formalism

unification, easy to share, …)

- Adding simulation -



Mise au point du prototype


Cumulative dev. cost


Sizing ProtoSim.

Prototype debugging ahead of time (ex. control), Easy to use, Quick development, Availability, Repeatable tests.



Customer needs


Time to market

Simulation

Avec SimulationApproche initialeWith SimulationActual approach








Sizing ProtoSim.

Models validity range,

virtual homologation complicated,

real time portability of the control?



Customer needs


Time to market

Simulation

Avec SimulationApproche initialeWith SimulationActual approach








Sizing ProtoSim.

Solution: « SuperModel » development?

How many development time? All interaction are they taken into account?



voltage

- Battery test example -

Control & Energy management

Battery + PE

Upstream system

current

Energy management

ageing? temperature? EMI? Etc.

Development time?Computation time?



voltage

INTE

No more model dependency : real power part

+

- Battery test example -


Upstream system

current

ERFACE

-

Energy management



Simulation Signal HIL Simulation

Power HIL Simulation

Prototype

- HIL simulation -

Power

Control

Power

Control Control

Power

Control

Power

EmulatedSoftware

Real componentsHardware



Customer needs


Control development

Time to market

Simulation

With simulationActual approach

With HIL

- HIL simulation benefits -



Cumul dev. cost

Simulation HIL RT control validation and

power subsystems validation

Siz. ProtoHILSim.

Reduce development time, Financial benefits (mobilization et component deterioration), Security et quality tests (fault tolerance tests), Repeatable tests, Virtual homologation available.



Voltage

INTE

+

Power adaptations?(Signal) Measures

(Power) (Signal)

- Structuring needs problematic of a Power HILs -


Upstream system

Current

ERFACE

-

Studied system Energy management

Emulated models(signal)

Control (signal)

Studied system(Power)

Interface (Power and Signal)

Can EMR helps to structure the different parts of a HIL simulation?



Power HIL simulation of PLATHEE locomotivePower HIL simulation of PLATHEE locomotive



Traction

Wh.

DCM4*100 kW

DC Bus

- BB63500 – Diesel Electric locomotive hybridization -

Aux.

Generator

SMMth

600 kW

Drawbacks : - No energetic storage for traction or auxiliairies,

- Diesel engine is uninterrupted (Auxilairies, etc.),

- Diesel engine is not always in its maximal efficiency point.



Traction

Wh.

DCM2*100 kW

DC Bus

Storage system

8x200 Scaps (6,94 kWh)SC

- PLATHEE - Power HIL simulation objective -

Aux.

Generator

SMMth

215 kW

Energy management

strategy

4x290 NiCd batt.(194 kWh)Bat

Objectifs : Defining a structured experiment for Energy storage tests,

Validation of the real time portability of the developed control and EMS,

Subsystem tests (nominal and fault tolerance) in a controlled environment before full prototype implementation.



TractionDC Bus

Storage system

- PLATHEE - Power HIL simulation objective -

Generator

Energy management

strategy

Objectifs : Defining a structured experiment for Energy storage tests,

Validation of the real time portability of the developed control and EMS,

Subsystem tests (nominal and fault tolerance) in a controlled environment before full prototype implementation.



- Power HIL simulation structure -

uc

uhach

iarmemach

mch

ihach

iarm

Fres

Ftot

2Croue

Ω roue

Froue

vtrainvtrain

Ftract

vtrain

vtrain

vtrain

Ffreins

Ffreins-ref

Cmcc

Ωred

uCuC2

mch.

vch

ich

is

usc tot

uc

is8

uc

isc DC

mch.

vch

ich

is

ubt tot

uc

is

4uc

ibt DC

Bat

C Ω

itot

ichuc

iaux

uc

SCs

Aux

Brak.

Env

imsCms

Cmth Ωarb

Ωarb

iarm_ref Cmcc_ref

Driving Strategy

uhach_ref Froue_ref Ftract_ref Ftot_refCroue_ref

kD

2

ICEuc

Cmth_ref

Ωarb_ref

Cms_ref

Generator Strategy

ich_refis_ref

vch_ref

ich_refis_ref

vch_ref

Cmth_ref Strategy

Pge_ref

EMS

ibt DC_ref

4

8isc DC_ref

Wh.

DCM2*100 kW

Aux.

DCBus

SM

ICE215 kW

Bat 1 160 NiCd batt. (194 kWh)

1 600 Scaps (6,94 kWh)SC

Energymanagment

strategy




System under test

uc

uhach

iarmemach

mch

ihach

iarm

Fres

Ftot

2Croue

Ω roue

Froue

vtrainvtrain

Ftract

vtrain

vtrain

vtrain

Ffreins

Ffreins-ref

Cmcc

Ωred

uCuC2

mch.

vch

ich

is

usc tot

uc

is8

uc

isc DC

mch.

vch

ich

is

ubt tot

uc

is

4uc

ibt DC

Bat

C Ω

itot

ichuc

iaux

uc

SCs

Aux

Brak.

Env

imsCms

Cmth Ωarb

Ωarb

iarm_ref Cmcc_ref

Driving Strategy


kD

2

ICEuc

Cmth_ref

Ωarb_ref

Cms_ref

Generator Strategy

ich_refis_ref

vch_ref

ich_refis_ref

vch_ref

Cmth_ref Strategy

Pge_ref

EMS

ibt DC_ref

4

8isc DC_ref

Wh.

DCM2*100 kW

Aux.

DCBus

SM

ICE215 kW

Bat 1 160 NiCd batt. (194 kWh)

1 600 Scaps (6,94 kWh)SC

Energy management

strategy




System under test

mch.

vch

ich

is

usc tot

uc

is8

uc

isc DC

mch.

vch

ich

is

ubt tot

uc

is

4uc

ibt DC

Bat

itot

uc

SCs

C Ω

uc

uhach

iarmemach

mch

ihach

iarm

Fres

Ftot

2Croue

Ω roue

Froue

vtrainvtrain

Ftract

vtrain

vtrain

vtrain

Ffreins

Ffreins-ref

Cmcc

Ωred

uCuC2

ich

iaux

uc

Aux

Brak.

Env

ims

iarm_ref Cmcc_ref

Driving Strategy


kD

2

Cms

Cmth Ωarb

Ωarb

ICEuc

Cmth_ref

Ωarb_ref

Cms_ref

Generator StrategyCmth_ref Strategy

Pge_ref

EMS

ibt DC_ref

4

8isc DC_ref

ich_refis_ref

vch_ref

ich_refis_ref

vch_ref




mch.

vch

ich

is

usc tot

uc

is

uc

isc DC

mch.

vch

ich

is

ubt tot

uc

is

8

4uc

ibt DC

Bat

itot

uc

SCs

uc

ich

uch

il

il

usource

uch-ref

mch

SE

PowertrainInterface System

Generator

System under test

iarm_ref Cmcc_ref

Driving Strategy


kD

2

uc

uhach

iarmemach

mch

ihach

iarm

Fres

Ftot

2Croue

Ω roue

Froue

vtrainvtrain

Ftract

vtrain

vtrain

vtrain

Ffreins

Ffreins-ref

Cmcc

Ωred

uCuC2

ich

iaux

uc

Aux

Brak.

Env

Cmth_ref

Ωarb_ref

Cms_ref

Generator Strategy

ich-ref il-ref

Cms

Cmth Ωarb

Ωarb

ICE

ims

ucuch

il

il

usource

ich-ref

il-ref

uch-ref

mch

SE

Generator Interface System

ich_refis_ref

vch_ref

ich_refis_ref

vch_ref

Cmth_ref Strategy

Pge_ref

EMS

ibt DC_ref

4

8isc DC_ref




mch.

vch

ich

is

usc tot

uc

is

uc

isc DC

mch.

vch

ich

is

ubt tot

uc

is

uc

ibt DC

Bat

itot

uc

SCs

uc

ich

uch

il

il

usource

uch-ref

mch

SE

8

4

Experimental test bed

System under test

iarm_ref Cmcc_ref

Driving Strategy


kD

2

uc

uhach

iarmemach

mch

ihach

iarm

Fres

Ftot

2Croue

Ω roue

Froue

vtrainvtrain

Ftract

vtrain

vtrain

vtrain

Ffreins

Ffreins-ref

Cmcc

Ωred

uCuC2

ich

iaux

uc

Aux

Brak.

Env

Cmth_ref

Ωarb_ref

Cms_ref

Generator Strategy

ich-ref il-ref

Cms

Cmth Ωarb

Ωarb

ICE

ims

ucuch

il

il

usource

ich-ref

il-ref

uch-ref

mch

SE

Real-time simulator

ich_refis_ref

vch_ref

ich_refis_ref

vch_ref

Cmth_ref Strategy

Pge_ref

EMS

ibt DC_ref

4

8isc DC_ref

Reduced-scale

Power adaptation element



100

i

2 x OP5600

real-time simulator

Power ElectronicsSEMIKRON

1 – Same EMS than Prototype :

Models validation

- Experimental setup and results -

0 100 200 300 400 500 6000

20

40

60

80

100

0 100 200 300 400 500 600-250

-200

-150

-100

-50

0

-10

-5

0

t(s)

vloc [km/h]

Ptract

[kW]

(b)

(a)

80

40

500

-200

-100

0400 300 200

0

0

-10Paux

[kW]

100 600 0 100 200 300 400 500 600-10

-5

0

5

10

21

22

23

24

25

26

0

5

10

22

ibat

[A]

Ubat

[V]

isc

[A]

(f)

(g)

10

0

0

26

24

Reference Measure

t(s) 500 400 300 200 -10

100 600

10

48v Battery

pack

48v Maxwell

0 100 200 300 400 500 600-25

-20

-15

0 100 200 300 400 500 6000

50

100

150

200

250

0 100 200 300 400 500 6000

2

4

6

6

250

2

0

Pgs

[kW]

Cons [L]

(e)

(d)

50

150

4

-10

-20

(c)

0 100 200 300 400 500 600-10

-5

0

0 100 200 300 400 500 60021

22

23

24

25

26

0 100 200 300 400 500 60040

45

50

55

60

605550

Usc

[V]

(h)

(i)

(j)

-10

26

24

22

45Ubus

[V]

Reference Measure

Reference Measure 40

48v Maxwell

Supercaps

400W controllable

voltage source



- Experimental setup and results -

i

100

OP5600

real-time simulator

Power ElectronicsSEMIKRON

2 – New EMS and studies outlooks :

Fair strategies comparison (maintenance, component behavior, fuel, …)

2 x OP5600

real-time simulator

0 100 200 300 400 500 600-10

-5

0

5

10

21

22

23

24

25

26

0

5

10

22

ibat

[A]

Ubat

[V]

isc

[A]

(f)

(g)

10

0

0

26

24

Reference Measure

t(s) 500 400 300 200 -10

100 600

10

0 100 200 300 400 500 6000

20

40

60

80

100

0 100 200 300 400 500 600-250

-200

-150

-100

-50

0

-10

-5

0

t(s)

vloc [km/h]

Ptract

[kW]

(b)

(a)

80

40

500

-200

-100

0400 300 200

0

0

-10Paux

[kW]

100 600

48v Battery

pack

0 1000 2000 30000.55

0.6

0.650.65

0.6

0.55

0 1000 2000 3000-100

0

100 ibat

[A]

SoCbat

[%]

48v Maxwell

0 100 200 300 400 500 600-10

-5

0

0 100 200 300 400 500 60021

22

23

24

25

26

0 100 200 300 400 500 60040

45

50

55

60

605550

Usc

[V]

(h)

(i)

(j)

-10

26

24

22

45Ubus

[V]

Reference Measure

Reference Measure 40

0 100 200 300 400 500 600-25

-20

-15

0 100 200 300 400 500 6000

50

100

150

200

250

0 100 200 300 400 500 6000

2

4

6

6

250

2

0

Pgs

[kW]

Cons [L]

(e)

(d)

50

150

4

-10

-20

(c)

400W controllable

voltage source

0 1000 2000 3000

Pgs

[kW]

Cons[L]

0 1000 2000 3000

1

0

0

0 1000 2000 3000

isc

[A]

SoCsc

[%]

48v Maxwell

Supercaps



Conclusion and outlooksConclusion and outlooks



EMR as a structuring tool :

- Such a complex system and experiment needs methodology : EMR,

- Integral causality allows to use description and control part in real time.

- Conclusion & outlooks -

Reduced-scale Power HIL simulation

- Reduce the cost and time to market of new developments,

- Do not required any prototype component,

- Quick development and adjustment possibility,

- Interface systems behavior validation,

- Prepare experiment for full-scale.PLATHEE Supercapacitors

Outlooks

- fault tolerance tests and control robustness,

- full-scale HIL simulation,

- implementation on prototype.

PLATHEE Supercapacitors

PLATHEE NiCd Batteries



Thanks for your attention!Thanks for your attention!

Tony LETROUVE

Julien POUGET



- Authors -

Dr. Julien POUGETSNCF, Innovation & Research Dept., MEGEVH, France

Dr. Tony LETROUVE

SNCF, Innovation & Research Dept., MEGEVH, FrancePhD in Electrical Engineering at University of Franche-Comte, BelfortResearch topics: optimal design, modeling, control and energy management applied in railway hybrid energy systems (electrical and diesel locomotive, electrical and thermal building and railway network)

Dr. Tony LETROUVESNCF, Innovation & Research Dept., MEGEVH, FrancePhD in Electrical Engineering at University of Lille & PSA (2013)Research topics: EMR, HIL simulation, Energy Management, Prototyping

Date post:	05-Jul-2020
Category:	Documents
Upload:	others
View:	6 times
Download:	0 times

Hardware--In--the--Loop simulation : hybrid locomotive ... · Hardware--In--the--Loop simulation :...

Documents