Energy-based modelling and simulation of a series hybrid electric vehicle propulsion system

This paper presents an energy-based model of a series hybrid electric vehicle. The proposed propulsion system has a new configuration using a wound-rotor synchronous generator (WRSM) and a doublyfed induction machine (DFIM). From the classic dq dynamical equations of the WRSM and DFIM the port-controlled Hamiltonian models of each machine is described. One of the abilities of the port-based models is that the complete model is easy to obtain by means of interconnection rules. Following this, the Hamiltonian model of the whole system is obtained. Similarly, the bond graph approach allows to build a complex model by interconnecting several subsystems. This paper also contains bond graph models of the machines and the propulsion system. Numerical simulations are also presented in order to validate the proposed models.Peer ReviewedPostprint (author’s final draft

Interconnection and damping assignment passivity-based non-linear observer control for efficiency maximization of permanent magnet synchronous motor

The permanent magnet synchronous motor (PMSM) has several advantages over the DC motor and is gradually replacing it in the industry. The dynamics of the PMSM are described by non-linear equations; it is sensitive to unknown external disturbances (load), and its characteristics vary over time. All of these restrictions complicate the control task. Non-linear controls are required to adjust for non-linearities and the drawbacks mentioned above. This paper investigates an interconnection and damping assignment (IDA) passivity-based control (PBC) combined with a non-linear observer approach for the PMSM using the model represented in the dq-frame. The IDA-PBC approach has the inherent benefit of not canceling non-linear features but compensating them in a damped manner. The suggested PBC is in charge of creating the intended dynamic of the system, while the non-linear observer is in charge of reconstructing the recorded signals in order to compel the PMSM to track speed. The primary objective of this study is to synthesize the controller while accounting for the whole dynamic of the PMSM and making the system passive. It is performed by restructuring the energy of the proposed strategy and introducing a damping component that addresses the non-linear elements in a damped instead of deleted way, so providing a duality concept between both the IDA-PBC and the observer There are three methods for computing IDA-PBC: parametric, nonparametric, and algebraic. The parameterized IDA-PBC method is used to control the speed of the PMSM. This method uses the energy function in parameterized closed-loop in terms of some functions depending on the system’s state vector, such that the energy formation step is satisfied. Then, the original port-controlled Hamiltonian (PCH) dynamics in open-loop (OL) are equalized with the desired one in closed-loop (CL). The equalization process allows obtaining a set of solutions of the partial differential equations. The latter must be solved in terms of the parameters of the energy function of the closed-loop. Finally, the stability properties are studied using the Lyapunov theory. Generally, the proposed candidate offers high robustness, fast speed convergence, and high efficiency over the conventional benchmark strategies. The effectiveness of the proposed strategy is performed under extensive numerical investigation with MATLAB/Simulink software

Speed regulation of permanent magnet synchronous motor via feedback dissipative Hamiltonian realisation

Abstract: Here, the speed regulation of permanent magnet synchronous motors (PMSM) is investigated through feedback dissipative Hamiltonian realisation. Feedback laws for precise and uncertain cases are constructed to transfer the dynamics of PMSM into dissipative Hamiltonian forms. When the load torque is unknown, to realise the speed regulation, an update law is embedded into the dissipative Hamiltonian structure. Simulations show that the controllers designed in this way are efficient

Continuous Finite-Time Terminal Sliding Mode IDA-PBC Design for PMSM with the Port-Controlled Hamiltonian Model

Finite-time control scheme for speed regulation of permanent magnet synchronous motor (PMSM) is investigated under the port-controlled Hamiltonian (PCH), terminal sliding mode (TSM), and fast TSM stabilization theories. The desired equilibrium is assigned to the PCH structure model of PMSM by maximum torque per ampere (MTPA) principle, and the desired Hamiltonian function of state error is constructed in the form of fractional power structure as TSM and fast TSM, respectively. Finite-time TSM and fast TSM controllers are designed via interconnection and damping assignment passivity-based control (IDA-PBC) methodology, respectively, and the finite-time stability of the desired equilibrium point is also achieved under the PCH framework. Simulation results validate the improved performance of the presented scheme

Performance investigation of H control and port controlled Hamilton with dissipation based nonlinear control for IPMSM drives

Within the field of electrical drive systems, there has been increasing popularity in the use of permanent magnetic synchronous machines as an execution unit, and the cooperation with high performance control strategy. Industrial engineers and researchers have developed countless applications with PM motors such as wind energy, hybrid vehicle and even in the elevator field. PMSM is a multivariate, nonlinear, time-varying system. Its entire operation is influenced by parameter variation, external load disturbance and unmodelled uncertainty. To eliminate such negative impacts and develop better performing PMSM control system, advanced control algorithms are critical. Therefore, this thesis forces on developing two different control techniques such as mixed-sensitivity based H∞ controller and port controlled Hamilton with dissipation (PCHD) controller to handle the uncertainties of the drives. Former one establishes the controller in terms of frequency domain, successfully converted IPMSM control problem to a standard H∞ based mixed-sensitivity problem by selecting proper weight functions and solving its correspond Ricatti equations. While the latter one realizes the control objective in energy aspects by assigning interconnection and damping matrix for IPMSM system to prove its passivity and ensure global stability. The performances of both controllers for IPMSM drive have been investigated in both simulations and experiments using MATLAB-Simulink and dSPACE DSP board DS1104 for a 5 hp prototype motor. A direct current (DC) machine is coupled with IPMSM shaft to use as dynamic load. It is found that the performances of both controllers are robust at different operating conditions while PCHD exhibits better dynamic performance than that of H∞ control

Global adaptive linear control of the permanent-magnet synchronous motor

International audienceWe contribute with a linear time-varying controller for the permanent magnet synchronous motor. We solve the open problem of speed-tracking control by measuring only stator currents and the rotor angular positions, under parametric uncertainty. Integral action is used to compensate for the effects of the unknown load-torque and adaptation is employed to estimate the unknown parameters. In the case that parameters are known (except for the load) we show that the origin of the closed-loop system is uniformly globally exponentially stable. For the case of unknown parameters we prove uniform global asymptotic stability hence, we establish parametric convergence. In contrast to other adaptive control schemes for electrical machines, we use a reduced-order adaptive controller. Indeed, adaptation is used only for the electrical dynamics equations. Moreover, not surprisingly, the closed-loop system has a structure well-studied in adaptive-control literature. Performance is illustrated in a numerical settin

Modeling and simulation of a series hybrid electric vehicle propulsion system

Two problems related with hybrid electric vehicles have been analyzed in this dissertation. The first one consists in proposing a propulsion system scheme for the vehicle and the second one consist in modeling it. In order to set a propulsion system scheme, the standard configurations for the hybrid electric vehicles are presented as well as some variations of the series topologies. Then, a novel configuration which is composed by a synchronous machine and an induction machine is also presented. As said before, the second problem consist in modeling this novel configuration. The reduced model of each machine of the dynamical model is described using the dqtransformation. Bond Graph and Port-Controlled Hamiltonian approaches are also used to describe the WRSM, the DFIM and the whole system models. Finally, the analysis of the power flowing through the system and the regenerative braking possibilities are done

Field Oriented Sliding Mode Control of Surface-Mounted Permanent Magnet AC Motors: Theory and Applications to Electrified Vehicles

Permanent magnet ac motors have been extensively utilized for adjustable-speed traction motor drives, due to their inherent advantages including higher power density, superior efficiency and reliability, more precise and rapid torque control, larger power factor, longer bearing, and insulation life-time. Without any proportional-and-integral (PI) controllers, this paper introduces novel first- and higher-order field-oriented sliding mode control schemes. Compared with the traditional PI-based vector control techniques, it is shown that the proposed field oriented sliding mode control methods improve the dynamic torque and speed response, and enhance the robustness to parameter variations, modeling uncertainties, and external load perturbations. While both first- and higher-order controllers display excellent performance, computer simulations show that the higher-order field-oriented sliding mode scheme offers better performance by reducing the chattering phenomenon, which is presented in the first-order scheme. The higher-order field-oriented sliding mode controller, based on the hierarchical use of supertwisting algorithm, is then implemented with a Texas Instruments TMS320F28335 DSP hardware platform to prototype the surface-mounted permanent magnet ac motor drive. Last, computer simulation studies demonstrate that the proposed field-oriented sliding mode control approach is able to effectively meet the speed and torque requirements of a heavy-duty electrified vehicle during the EPA urban driving schedule