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

Sliding mode control of the stand alone wound rotor synchronous generator

En esta Tesis ha sido analizado el control de la màquina sincrónica de rotor bobinado actuando en isla. Para esta configuración, la velocidad mecànica determina la frecuencia, y la tensión de rotor se utiliza para fijar la amplitud de la tensión de estator. Debido a que la constante de tiempo eléctrica es mucho más ràpida comparada con la constante de tiempo mecánica, la velocidad mecánica fue considerada constante y externamente regulada y la investigación se enfocó en la regulación de la amplitud de la tensión de estator.Cuatro diferentes controladores basados en técnicas de modos deslizantes fueron diseñados en el marco de referencia dq. Las leyes de control obtenidas regulan la amplitud de la tensión de estator independientemte del valor de la carga. Adicionalmente, sólo las medidas de tensión y posición del rotor (para calcular la transformada dq) son necesarias. La estabilidad de los puntos de equilibrio obtenidos fueron probados al menos utilizando anàlisis de pequeña señal.Se realizó la validación por simulación y experimental de cada controlador en diferentes escenarios. Los resultados obtenidos validan los diseños y muestran las principales ventajas y desventajas de el sistema en lazo cerrado.El capítulo 2 cubre los problemas de modelado de la màquina sincrónica de rotor bobinado. Partiendo de las ecuaciones trifásicas generales, y utilizando la transformada de Park, se encontraron el modelo en dq del generador sincrónico de rotor bobinado (WRSG) en isla, alimentando tanto carga resistiva como inductiva. Los puntos de equilibrio del sistema obtenido fueron analizados y calculados, luego se definió el objetivo de control. Finalmente, se obtuvieron modelos lineales aproximados y sus respectivas funciones de transferencia.Los controladores PI son los más usados en la industria porque ofrecen buen desempeño y son sencillos de implementar. En el capítulo 3, se obtuvieron las reglas de sintonización para el controlador PI, y se analizaron estos resultados con el objetivo de proponer nuevos controladores que mejoraran el desempeño de la clásica aproximación PI.El esquema de control en modos deslizantes para la WRSG conectada a una carga resistiva fue diseñado en el capítulo 4. Éste, también incluye un completo análisis de estabilidad del sistema en lazo cerrado. El capítulo 5 presenta dos diseños basados en modos deslizantes para regular la amplitud de la tensión de estator para el WRSG actuando en isla. Ambos diseños usan la componente d de la tensión de estator en la función de conmutación. El primer caso es un control anidado, donde un lazo externo PI es añadido para proveer la referencia de la componente d de la tensión. En la segunda aproximación un término integral es añadido a la superficie de conmutación.El caso de alimentar una carga inductiva es estudiado en el capítulo 6. El controlador requiere una extensión dinámica debido a que la amplitud de la tensión de estator es una salida de grado relativo cero. Como resultado, un controlador robusto, que no depende de los parámetros de la máquina ni de los valores de carga es obtenido. En el capítulo 7 los resultados de simulación y experimentales para los controladores diseñados para el WRSG actuando en isla son presentados. En primer lugar, una descripción completa del banco es presentada. Esta incluye detalles de la etapa de adquisición de datos y de la DSP utilizada. En segundo lugar, se hace la descripción del procedimiento de simulación. Luego, las simulaciones y experimentos, que contienen diferentes escenarios, con cambios de referencia y variaciones de carga para cada controlador son presentados.The control of the stand-alone the wound rotor synchronous generator has been analyzed in this dissertation. For this islanded configuration, the mechanical speed determines the frequency, and the rotor voltage is used to set the stator voltage amplitude. Due to the electrical time constant is so fast compared with the mechanical time constants, the mechanical speed was considered constant and externally regulated and the research was focused on the stator voltage amplitude regulation.Four different controllers based on sliding mode control techniques were designed in the dq reference frame. The obtained control laws regulate the stator voltage amplitude irrespectively of the load value. Furthermore, only voltage and rotor position measures (to compute the dq transformation), are required. The stability of the obtained equilibrium points was proved at least using small-signal analysis. Simulation and experimental validation of each controller containing several scenarios were carried out. The obtained results validate the designs and show the main advantages and disadvantages of each closed loop system. Chapter 2 covers the modeling issues of the wound rotor synchronous machine. From the general three-phase dynamical equations, and using the Park transformation, the dq-model of the stand-alone wound rotor synchronous generator feeding both a resistive and an inductive load are obtained. Equilibrium points of the obtained systems are analyzed and, after defining the control objective, the desired equilibrium points are computed.Finally, linear approximated models are obtained and their transfer functions are also presented.PI controllers are the most used in the industry because they offers good performance and are easily implementables. In Chapter 3 we obtain the tuning rule for the PI controller, and we analyze these results in order to propose new controllers which improve the classic PI approach.The sliding mode control scheme for the WRSG connected to a resistive load is designed in Chapter 4. It also includes a complete stability analysis of the closed loop system. Chapter 5 presents two sliding mode designs to regulate the stator voltage amplitude for a stand-alone wound rotor synchronous generator. Both use the stator voltage d-component error in the switching function. The first case is a nested controller, where an outer PI loop is added to provide the proper d-voltage component reference. In the second approach an integral term is added to the switching function. The case of feeding an inductive load is studied in Chapter 6. The controller introduces a dynamic extension because the stator voltage amplitude is a zero relative degree output. As result, a robust controller, which neither depends on the machine parameters nor on the load values, is obtained. In Chapter 7 the simulation and the experimental results of the designed controllers for the stand-alone wound rotor synchronous generator are presented. Firstly, a complete description of the bench is provided. It also includes details of the data acquisition stage and the used DSP card. Secondly, the description of the simulation procedure is commented. Then, the simulation and experiments which contains several scenarios, with reference change and load variations evaluated for each controller are presented

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

Extended SMC for a stand-alone wound rotor synchronous generator

Postprint (author's final draft

Improving long line stability by integrating renewables using static synchronous generators

Postprint (author's final draft

Synchronous power controller merits for dynamic stability improvement in long line by renewables

Postprint (author's final draft

Control proposals for the operation of power converters in wind power systems

The wind turbines based on Doubly Fed Induction Generators (DFIG) represent almost the 60% of the installed windpower worldwide. Nowadays most of the existing algorithms, used for regulating the production of active and reactive power in such systems, are based on control techniques that use rotational reference frames theories, where the dq0 is maybe the most popular. Despite of its good operation under balanced conditions its behaviour depends on a good phase synchronization, otherwise the different transformations cannot be performed with enough guarantees. Of course this kind of response is becomming insuficient, as far as the windpower penetration is increasing. This paper will present a new control topology for DFIG, that are connected using back to back inverters, that is able to behave better in case of faulty grids. Besides some proposals for improving the operation of the DFIG will be presented as well. The aim of that part is to extend the possibilities that the back to back inverters are able to offer to the generator system by means of including new functionalities, as the active filtering capability or the reduction of the flicker emission that will be later discussed.Postprint (published version

Two sliding mode control approaches for the stator voltage amplitude regulation of a stand-alone WRSM

In this paper two sliding mode control alternatives to regulate the stator voltage amplitude for a stand alone wound rotor synchronous generator are presented. Both controllers use the stator voltage d-component error in the sliding surface. In a first case an outer PI loop controller is added to provide the proper d-voltage component reference. The second approach consists in extending the dynamic system to include the integral term as state variable and to modify the former sliding surface by adding this new state. Finally, simulations results are done in order to validate the proposed algorithms.Peer ReviewedPostprint (published version

Design, operation, modeling and grid integration of power-to-gas bioelectrochemical systems

Peer ReviewedPostprint (published version

Supporting phase stability on interconnected grids by synchronous renewable virtual power plants

Rapid growing on the power level of renewable generation units leads to that using more adaptable and flexible control techniques in this units becomes more important for grid operators. In this paper, after introducing Renewable Static Synchronous Generation Units (RSSGU) as units with flexible dynamics capability, forming of renewable Virtual Power Plants based on this RSSGUs (VPP-SSG) is suggested as a solution for overcoming phase stability challenges on interconnected generation areas. Based on the dynamic modeling and small signal analysis, an algorithm is presented for the dynamic designing of VPP-SSGs aims to provide supporting damping for both local and interarea oscillatory modes. Modal analysis and time domain study on active powers inside of generation areas and tie lines on two area system using Simulink confirms that these type of VPP-SSGs can support phase stability on power grid with interconnected generation areasPeer ReviewedPostprint (author's final draft