Outline Vehicle Propulsion Systems Lecture 5

Hybrid Powertrains Part 2 Component Modeling

Lars Eriksson Associate Professor (Docent)

Vehicular Systems Linkoping University

November 5, 2010

Energy consumption for cycles

Engine Efciency Maps

Measured engine efciency map Used very often
Engine efficiency map 350

300

250 Engine Torque [Nm]

Numerical values for MVEG-95, ECE, EUDC

1 air drag = xtot rolling resistance = kinetic energy = 1 xtot 1 xtot vi3 h
itrac

200

{319, 82.9, 455} {.856, 0.81, 0.88}

150

vi h =
itrac

100

50

ai vi h = {0.101, 0.126, 0.086}

itrac
0 0 1000 2000

EMVEG-95 Af cd 1.9104 +mv cr 8.4102 +mv 10

kJ/100km

3000 4000 Engine Speed [rpm]

5000

6000

Willans line approximation.

Hybrid concepts

Hybrid operating modes

Example: Combined hybrid in power assist mode.

Combined Hybrid Power assist mode E

PG

Electric Parallel Combined

Series Parallel S/A

Outline

Electric Motors Classication

Electric motors are often classied into four groups (there are other classications) DC-Machines Synchronous machines (sometimes including brushless DC-motor) Asynchronous machines Reluctance machines There are also other devices: Stepper motors (Digitally controlled Synchronous Machine), Ultrasonic motors.

The 4 Quadrants

Brushed DC-Machine

Brush-type DC motor: Rotor Stator Commutator Two subtypes: Permanent magnet Separately excited Pros and cons + Simple to control Brushes require maintenance

2
Braking Driving

1
Driving

Braking

4
Wikipedia picture

DC-motor torque characteristics

Characteristics of a separately excited DC-motor

Brushless DC-Motor

Solves DC commutator and brushes problem

Replace electromagnet in rotor with permanent magnet. Rotate eld in stator.

DC-motor is misleading
DC source as input Electronically controlled commutation system AC

Linear relations between

current and torque voltage and rpm

Synchronous AC machines
AC machine Rotor follows the rotation of the magnetic eld Has often permanent magnets in rotor This is the same as the brushless DC motor.

Torque Characteristics
Brushless DC

Asynchronous AC machines Induction motors

Stator has a rotating magnetic els Rotor has a set of windings, squirrel cage See separate animation. Electric eld induces a current in the windings Torque production depends on slip.

Torque Characteristics

Induction AC motor

Reluctance machines
Reluctance = Magnetic resistance. Synchronous machine Rotating eld Magnetic material in the rotor Rotor tries to minimize the reluctance

Motor Modeling

Quasistatic (equations are general) Power relationships: input power P1 (t) delivered power P2 (t) = T2 (t) 2 (t) Efciency usage P1 (t) = P2 (t)/m (2 (t), T2 ), P1 (t) = P2 (t) m (2 (t), T2 ), P2 (t) > 0 P2 (t) < 0

Description of the efciency in look-up tables Willans line to capture low power performance

First quadrant maps for m AC machines

PM Synchronous

Extending the Maps for m

Traditional rst quadrant drive is normally well documented Supplier information for m ( ) Electric motor drive P2 (t) = m (2 (t), T2 ) P1 (t), Electric generator load P1 (t) = g (2 (t), T2 ) P2 (t), How to determine g ? Method 1: Mirror the efciency map m (2 (t), T2 ) = g (2 (t), T2 ) P2 (t) < 0 P2 (t) > 0

Induction motor, Asynchronous AC

Method 2: Calculate the power losses and mirror them Method 3: Willans approach

Two Quadrant Maps for m

Motor Modeling

More advanced models

Use component knowledge: Inductance, resistance Build physical models

Dynamic models are developed in the book.

Mirroring efciency is not always sufcient.

Electrical Machines in Hybrids

Machines encountered
Separately excited DC Permanent magnet synchronous DC Induction motors (Switched reluctance machines) Considered to be interesting

Outline

AC motors (compared to DC motors)

Less expensive but more sophisticated control electronics, gives higher overall cost. Higher power density, higher efciency.

AC motors (permanent magnet vs induction motors)

Averaged values from Advisor database. Efciency Power density permanent magnet 92.5 % 0.66 kW/kg induction motors 90.5 % 0.76 kW/kg

Batteries

Modeling in QSS Framework

Causality for Battery models in QSS.

Energy storage devices Energy density important Performance Power density important Durability Energy Wh/kg 40 50 70 130 Power W/kg 180 120 200 430 cycles 600 1500 1000 1200

P2 PA U2
Models have two components
The rst component is

I2 BT

Q U2

Battery type Lead-acid Nickel-cadmium Nickel-metal hydride Lithium-ion

I2 =

P2 U2

The other, the relation between voltage and terminal current SOC U2 = f (SOC, I2 , . . .)

Standard model

Voltage and SOC

Simple model for the battery Open circuit voltage Uoc

Ri Uoc I2
Output voltage U2 = Uoc Ri I2

U2

Battery Efciency denition

Efciency denition is problematic
Not an energy converter Energy storage Peukert test Constant current during charge and discharge. Ragone test Constant power during charge and discharge.

Efciency denition Instantaneous

Efciency will depend on the cycle.

tf

Ed =
0 tf

P2 (t)dt = /Peukert test.../ = tf (Uoc Ri I2 ) I2 |P2 (t)|dt = /Peukert test.../ = tf (Uoc +Ri |I2 |)|I2 |
0

|Ec | =

b =

Ed Ec

Can also dene an instantaneous efciency.

Supercapacitors
Supercapacitors and ultracapacitors High power density Used as short time scale energy buffer. Load leveling to the battery. Very similar to battery in modeling Exchange the battery for a capacitor in the circuit below.
Ri Uoc I2 U2

Outline

Efciency denitions Peukert and Ragone

Power Links

Outline

Electrical glue components

DC-DC converters DC-AC converter

Account for power losses

Torque couplers

Outline

Components that are included to:

Glue for mechanical systems acting on the same shaft

Can include:
Gears in the coupling equation Sub models for friction losses

Basic equations Angular velocities Torque (from a power balance, including losses)

Power Split Devices

Manage power splits between different components Important component for achieving exibility Modeling approach: Speed relations with torque from power balance.

Can add more planetary gears