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© 2011 Maplesoft, a division of Waterloo Maple Inc.
Modeling and Simulation ofHEV and EV Power Electronics
Paul Goossens Vice President, Applications Engineering
Dr. Sam DaoApplications Engineer
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© 2011 Maplesoft, a division of Waterloo Maple Inc.
The HEV/EV Modeling Problem
HEV and EV modeling presents new problems
• Complex, multi-domain models
• Difficult to run in realtime for HiL applications
• Coupling between domains can cause unexpected responses
• Batteries and power electronics are very complex
• Costly prototypes must be built to reveal system-level problems
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© 2011 Maplesoft, a division of Waterloo Maple Inc.
The Need for Fast and Accurate Models
Accurate system-level models require accurate battery and power electronics models
• Electro-chemical battery models are very complicated physical systems with complicated mathematical descriptions
• Interaction of battery with power electronics and vehicle dynamics reveals higher-order effects can be mitigated
• Access to system-level equations provides further insight
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HEV Components
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HEV Powertrain
IC Engine Simple: controlled torque driver (ideal or lookup map)
Mean Value: physical equations for overall power output and fuel consumption
Cycle-by-cycle: detailed four-stroke model
Engine/transmission coupling Controllable Friction Clutch (built into MapleSim library)
Torque Converter (lookup tables for torque ratio and load capacity)
Transmissions Basic components
Decomposed planetary (planet-planet, planet-ring)
Dual ratio planetary: co-rotating/counter-rotating planets
Manual 5-speed
Automatic 4-Speed (ZF 4HP22: 3 planetary gears, 12 clutches)
6-speed Dual-clutch
Ravigneaux 4-speed
Lepelletier 4-Speed
CR-CR 4-speed
Continuously Variable Transmission (CVT)
Ideal or Lossy (Lookup tables for meshing friction, torque friction, slip)
Differentials Passive/Active
Ideal/Lossy
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Energy Storage/Conversion
•Batteries/Fuel Cells•Motors•Generation/Regeneration•Power Conversion•State-of-charge control
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Vehicle Dynamics
•Multibody components for 3D Chassis Modeling• Chassis/Suspension/Steering• Stability Analysis and Control
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Example: Hybrid-Electric Vehicle
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FTP Drive Cycle: Simulation Results
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Power Split: Torque/Speed
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© 2011 Maplesoft, a division of Waterloo Maple Inc.
Video
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Sam Dao, PhD, Maplesoft
Battery Modeling in MapleSim
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Batteries
Details Physics and Equivalent Circuit:
• Lead-Acid
• Ni-MH
• Li-Ion for the following chemistries:
LiNiO2, LiCoO2, LiV2O5, LiFePO4 (Lithium-iron/iron phosphate), LiMn2O4, LiMn2O4 low plateau, LiTiS2, LiWO3, NaCoO2.
© 2011 Maplesoft, a division of Waterloo Maple Inc.
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Approaches to Battery Modeling
Circuit-based models:
• represents battery behaviour as electrical circuit
• conceptually simple
• hides the battery physics
Chemistry-based models
• more accurate modeling of all battery characteristics
• many configuration parameters
• complicated model
© 2011 Maplesoft, a division of Waterloo Maple Inc.
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Circuitry Battery Model
© 2011 Maplesoft, a division of Waterloo Maple Inc.
Pros: Simple and easy to
understand Accurate model and fast
to simulate
Cons: Does not include
temperature effects New model has to be
developed when battery parameters are changed
Battery capacity
Short and long time response, charge depletion and recovery
Open-circuit voltage
Relate SOC to component values based on experimental data
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Circuitry Battery Model
© 2011 Maplesoft, a division of Waterloo Maple Inc.
• Comparison with actual battery discharge:
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Physics-Based Battery Models
© 2011 Maplesoft, a division of Waterloo Maple Inc.
• Lithium-Ion battery modeling using porous electrode theory: Cathode: Anode:
6 6yLi C C yLi ye 1 2 2yLi CoO yLi ye LiCoO
Porous negative electrode
contains graphite
Porous separator
Porous positive electrode
contains metal oxides
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Physics-Based Battery Models
© 2011 Maplesoft, a division of Waterloo Maple Inc.
Distribution of liquid-phase concentration over x:
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Physics-Based Battery Models
© 2011 Maplesoft, a division of Waterloo Maple Inc.
Discharge voltage with pulse current (30 A) Battery voltage with different cathode chemistries
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Paul Goossens, Maplesoft
Power Electrical Components
and Circuits in MapleSim
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Basic Components
Semiconductors BJT (NPN, PNP) MOSFET (N, P) Diodes
Triggered components Thyristor, GTO
Multi-phase components
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Motors/Generators
DC Permanent Magnet, Excited Armatures Equivalent Circuit
AC Synchronous and Asynchronous Multi-phase
Stepper
Brushless DC
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Power electrical subsystems
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IGBT
© 2011 Maplesoft, a division of Waterloo Maple Inc.
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IGBT Single-stage Driver
© 2011 Maplesoft, a division of Waterloo Maple Inc.
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Three-phase IGBT Drive
© 2011 Maplesoft, a division of Waterloo Maple Inc.
Asynchronous Induction Motor Speed
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© 2011 Maplesoft, a division of Waterloo Maple Inc.
What is MapleSim?
MapleSim is a truly unique physical modeling tool:
• Built on a foundation of symbolic computation technology
• Handles all of the complex mathematics involved in the development of engineering models
• Multi-domain systems, plant modeling, control design
• Leverages the power of Maple to take advantage of extensive analytical tools
• Reduces model development time from months to days while producing high-fidelity, high-performance models
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Summary
Complex physical modeling is becoming increasingly important – and increasingly complex – particularly in EV and HEV systems design, testing and integration
MapleSim is the ideal tool for rapid development of complex multi-domain physical models of EV and HEV systems for full-powertrain simulation and testing
Extensive range of battery and power-electronic models is available to give you the fidelity you need
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Thank You
Questions?
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w w w. m a p l e s i m . c o m
w w w. m a p l e s o f t . c o m / s u b s c r i b e