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502 F
502 F
502 F
Electric Drive Vehicles
Fall 2013
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Course Offered Jointly
• Co‐developed and maintained by multiple universities
• USU: Prof. Regan Zane (lead for 2013)
• CU‐Boulder: Prof. Dragan Maksimovic
• University of Cantabria, Spain: Prof. Francisco Azcondo
• Content provided by all campuses
• Lectures, assignments, supplementary video and materials
• Local support: office hours, grading, location specific details
• Benefits
• Course content maintained relevant and up‐to‐date
• Leading experts brought in from around the world
• Online content available to all students for review
• Discussions exchanged across campuses via course blog
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USU Instructor: Professor Regan Zane
• Office:
• phone: 435‐797‐9118
• Innovation Campus USTAR 620, Room 118B
• On‐campus: EL 304D (after class discussions)
• Office hours
• 11:20 – 12pm, MWF (after class)
• By appointment on innovation campus
• Class blog
• E‐mail: regan.zane@usu.edu
• Please use 6930 in the subject line
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Course Outline
• Transportation electrification
• System overview
– Vehicle dynamics, MATLAB/Simulink modeling
– Architectures of hybrid (HEV), plug‐in hybrid (PHEV) and electric vehicles (EV)
– Rating and sizing of drivetrain components
• Electric drivetrain components: analysis, modeling, simulations and
design considerations
– Battery systems, battery management electronics
– Bidirectional DC‐DC converters
– Inverters and AC motor drives
– Battery chargers
• Complete system modeling and simulations
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System Architectures, Modeling and Simulations
Top-Level EV Model
Vehicle Speed
Torque command
(Gas & brake pedals)
speeds
m
Driv ing cy cle Vehicle Monitoring Forces
Ref erence Speed
Iinv
• Vehicle dynamics, MATLAB/Simulink modeling
• Architectures of hybrid (HEV), plug‐in hybrid (PHEV) and electric
vehicles (EV)
• Rating and sizing of drivetrain components
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Vehicle Subsystems
Electrical Model View
Motor Torque
DC Bus Voltage 1
1 Iinv 4
Battery Voltage Wheel Torque
Tcommand Fdrive
Gearing
2
Vbus_ref
3
Vev
SOC Bus Voltage 2 Tire
DC-DC Converter:
EV Battery Model: Reference Iabc
Functional Motor Drive Inverter: PMAC Motor: Functional
Functional Wheel Angular Speed
Functional
Battery Current
Model for a sample vehicle system during driving cycle. Model consists
of Battery, DC-DC, Inverter, three-phase Permanent-Magnet AC
(PMAC) motor, drive shaft gearing, and vehicle tires
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Energy Storage System (Battery)
• An introduction to battery electro‐
chemistry
• Types and characteristics of battery
cells, energy, power, cycle life,
calendar life, cost
• Cell charge/discharge characteristics,
electrical circuit modeling
• Battery management system, cell
balancing
• Modeling and simulations of battery
systems
Battery dynamic modeling and control are covered in IDEATE courses at UCCS
ECE 5710: Modeling, Simulation, and Identification of Battery Dynamics (Fall)
ECE 5720: Battery Management and Control (Spring)
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Bidirectional DC‐DC Converter
• Introduction to switched‐mode
power converters
• Steady‐state operation, analysis
and simulations
• Introduction to power
semiconductor switching devices:
diodes, IGBTs, MOSFETs
• Modeling of losses and efficiency
• Simulations
• This course provides a self‐contained introduction and covers additional
topics specific to electric‐drivetrain applications
• Topics also covered in ECE 6930‐4: Introduction to Power Electronics
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AC Motor Drive
• An introduction to AC
machine operation and
models*
• Permanent magnet
synchronous machine
• Induction machine
• DC‐to‐AC inverter
operation and controls
• AC drive modeling and
simulations
* Topics covered in more detail in ECEN 5737: Adjustable Speed AC Drives offered in
Spring 2014 at CU Boulder (Tuition scholarships available!)
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Complete System Model and Simulations
Top-Level EV Model
Speed
cycle is a velocity-vs-time profile for the vehicle, operating on
flat ground. Driver uses gas pedal to track the reference velocity.
Vehicle Speed
Torque command
(Gas & brake pedals)
speeds
m
Driv ing cy cle Vehicle Monitoring Forces
Ref erence Speed
Iinv
Forces
The course includes
Inverter
• Integration of developed current
subsystem models into a
complete vehicle model
• System evaluation and
design considerations Battery
energy
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Transportation Electrification
Motivation
• Improve efficiency: reduce energy consumption
• Displace petroleum as primary energy source
• Reduce impact on environment
• Reduce cost
EIA:
• Transportation accounts for
28% of total U.S. energy use
• Transportation accounts for
33% of CO2 emissions
• Petroleum comprises 93% of
US transportation energy use
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Example: US06 driving cycle
100
Vehicle speed [mph]
80
v [mph]
60
10‐min
8 miles
40
20
0
0 100 200 300 400 500 600
80
Propulsion power [kW]
60 Example:
40 Prius‐sized
20 vehicle
Pv [kW]
-20
-40
-60
0 100 200 300 400 500 600
time [s]
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Average power and energy
100
80
60
v [mph]
40
20
0
0 100 200 300 400 500 600 Prius‐sized vehicle
80
Dissipative braking
60
Pvavg = 11.3 kW
40
235 Wh/mile
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Pv [kW]
-20 Regenerative braking
-40 Pvavg = 7.0 kW
-60
0 100 200 300 400 500 600
146 Wh/mile
time [s]
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Conventional versus Electric Vehicle
(Prius‐sized vehicle example)
Tank + Internal Combustion Electric Vehicle (EV)
Engine (ICE) Battery + Inverter + AC machine
Regenerative
braking NO YES
Level I (120Vac): 1.5 kW, <8 miles/hour
5 gallons/minute
Refueling Level II (240Vac): 6 kW, <32 miles/hour
11 MW, 140 miles/minute Level III (DC): 100 kW, <9 miles/minute
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Electric‐Drive Vehicle Technologies
• Internal Combustion Engine (ICE) vehicle
– Gasoline powered only
• Hybrid Electric Vehicle (HEV)
– Combination of a gasoline‐powered ICE and electric drive,
– HEV efficiency improvements
• Regenerative braking
• “Downsizing:” a smaller, more efficient ICE, relatively small battery
• ICE operated around the most efficient operating point
• No idling required when the vehicle stops, keep ICE off
• Plug‐In Hybrid Electric Vehicle (PHEV)
– Same efficiency improvements as HEV
– Larger battery for an all‐electric range
• Electric Vehicle (EV), All electric vehicle (AEV), (BEV)
– No ICE, (much) larger battery
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PHEV example, new EPA stickers
Chevy Volt
1720 kg
62 kW (83 hp) ICE
55 kW generator
110 kW (149 hp) electric drive
16 kWh Li‐Ion battery (175 kg)
65% usable, 35 mi EV range
8 years, 100,000 miles
warranty
EPA miles‐per‐gallon‐equivalent calculation for All Electric
Trip length [miles]
MPGequivalent = x 33.7 kWh/gallon
Total energy consumed [kWh]
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EV example
Nissan Leaf
1527 kg
80 kW (110 hp) electric drive
24 kWh Li‐Ion battery
Cells: 140 Wh/kg
300 kg battery pack
(8 years, 100,000 miles
warranty)
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CO2 emissions and oil displacement study
Well‐to‐Wheel Analysis of Energy Use and Greenhouse Gas Emissions of PHEVs
(2010 report by Argonne National Lab)
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CO2 emissions Over Full Lifetime
Preparing for a Life Cycle CO2 Measure (2011 report by Ricardo)
Trends and Challenges
• Paths to electrified (personal) transportation
– Hybrid electric vehicles (HEV)
– Plug‐in hybrid electric vehicles (PHEV)
– All electric vehicles (AEV, BEV)
– Hydrogen + fuel cell electric vehicles (FCV)
• Electricity generation mix: shift to renewables
• Challenges
– Batteries
– Engineering of electric drivetrain components, including
efficient, high‐density, reliable power electronics
– Charging infrastructure
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A Vision: Renewable Sources + Battery Electric Vehicles
Pchg
• Zero GHG emissions, no petroleum
• High efficiencies are feasible: 80% grid‐to‐wheel
• Challenges
• Battery technology: cost, cycle life, power and energy density
• Efficient, reliably and cost‐effective drivetrain components
• Need for charging infrastructure
• Limited Pchg, long charge‐up times
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