1 EMR’16 UdS - Longueil June 2016 Summer School EMR’16 “Energetic Macroscopic Representation” « E NERGETIC M ACROSCOPIC R EPRESENTATION (EMR) » Prof. Alain BOUSCAYROL 1 , Prof. João P. Trovão 1 , 1 L2EP, Université Lille1, MEGEVH network, France 2 e-TESC, Université de Sherbrooke, Canada Within the DL program of IEEE-VTS 2 « Energetic Macroscopic Representation (EMR) » EMR’16, UdS Longueil, June 2016 - Outline - 1. EMR basic elements • Source, accumulation and conversion elements • Coupling and adaptation elements 2. EMR of a complete system • Action and tuning path • Association rules 3. Conclusion: towards control organization
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EMR’16
UdS - Longueil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
« ENERGETIC MACROSCOPIC
REPRESENTATION (EMR) »
Prof. Alain BOUSCAYROL1, Prof. João P. Trovão1, 1 L2EP, Université Lille1, MEGEVH network, France
2 e-TESC, Université de Sherbrooke, Canada
Within the DL program of IEEE-VTS
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
- Outline -
1. EMR basic elements
• Source, accumulation and conversion elements
• Coupling and adaptation elements
2. EMR of a complete system
• Action and tuning path
• Association rules
3. Conclusion: towards control organization
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
real
system
system
model
system
representation
- Level of study -
system
simulation
model
objective
limited
validity range
organization
valuable
properties
behavior
study
prediction
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
real
system
representation
- Representation I/O -
Model objective:
“control”
causal &
systemic
organization
Highlight energetic
and systems properties
prediction
dynamical
models
Real-time
control &
Energy
management
forward
approach
3
EMR’16
UdS - Longueil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
1. « EMR basic elements »
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
- The different elements -
Energy sources
Energy storage
Energy conversion
Energy distribution
Only 4 energy functions
are required to describe
energy conversion systems
EMR = 4 graphical elements associated with the 4 energy functions
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
Sourceoval pictogram
background: light green
contour: dark green
1 input vector (dim n)
1 output vector (dim n)
- Energetic sources -
terminal elements which represent
the environment of the studied system
generator and/or receptor of energy
power system
reaction
action
upstream
source
downstream
sourcex1
y1
x2
y2
p1= x1. y1 p2= x2. y2
direction of
positive power
(convention)
n
i
ii yx
1
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
pload
qwind
wind
qwind [m3/s]
Pload [Pa]
bulbI
u
I
u
Wind
(air flow source)
generator energy
VDC
iBat
VDC
i
- Energetic sources: examples -
Battery
(voltage source)
generator and
receptor of energy
Ligthing bulb
receptor of energy
IC engine
(torque source)
generator
of energyTice
WICE
Tice
W
Tice-ref
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
Accumulatorrectangle with an oblique bar
background: orange
contour: red
upstream I/O vectors (dim n)
downstream I/O vectors (dim n)
- Accumulation elements -
internal accumulation of
energy (with or without
losses)
reaction
actionx1
y
y
x2
p1= x1. y p2= x2. y
causality principle
output(s) = input(s)
dtxxfy ),( 21
y = output, delayed with
regard to input changes
fixed I/O (causal description)
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
inductor
v1
v2
i
i
v1 v2
i
L
v
i2i1
C
capacitor
i1
i2
v
v
inertia
WJ
T2T1
W
T1
T2
W
W
stiffness
kW1 W2
TT
W1
W2
T
T
2 2
1iLE
2 2
1W JE
2 1
2
1T
kE
2 2
1vCE
- Accumulation elements: examples -
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
conversion
elementvarious pictograms
background: orange
contour: red
upstream I/O vectors (dim n)
downstream I/O vectors (dim p)
Possible tuning input vector (dim q)
- Conversion elements -
conversion of energy
without energy
accumulation
(with or without
losses)
action /
reaction x1
y1
y2
x2
p1= x1. y1 p2= x2. y2
),(
),(
21
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zxfy
zxfy
z
tuning vector
no delay!
upstream and downstream
I/O can be permuted
(floating I/O)
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
kF
- Conversion elements: examples -
dcmdcmdcm euiridt
dL
VDCuconv
iloadiconv
VDC
iconv
uconv
s
iload
s
i
u DCM
Wgear
TgearT1
W2
W2
T3
kgear
3gear2 TTdt
dJ W
WF
F
ke
ikT
dcm
dcmdcm
idcm
u idcm
edcm
Tdcm
W
Wgear
T1
W2
Tgear
W2
T3
2geargear
1geargear
k
TkT
WW
m
loadconv
DCconv
imi
Vmu
Bat
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
coupling element
various overlapped pictograms
background: orange
contour: red
pairs of I/O vectors
N pairs, N-1 pictograms
- coupling elements -
distribution of energy
without energy
accumulation
without tuning
(with or without
losses)
action /
reaction x1
y1
p1= x1. y1
)x,..x(fy
...
)x,..x(fy
nnn
n
1
111no delay!
x2
xn
yn
y2
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
- Coupling elements: examples -
2
TTT
gearrdifldif
iarm
uarmDCM
iexc
uexc
Wexcdcm
armexcdcm
ike
iikT iarm
uarm
iexc
uexc
iarm
earm
Tdcm
W
eexc
iexc
Field winding DC machine
Mechanical differential
Wdiff
Tgear
Wlwh
Wrwh
Tldiff
Trdiff
Tldiff
Wrwh
Trdiff
Wlwh
Tgear
Wdiff2
ΩΩΩ rwhlwh
diff
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
- EMR main properties -
Energy
source
Energy
accumulation
Energy
conversion
(potential tuning)
Energy
distribution
highlight energetic functions
all power I/O are defined
by accumulation elements
(causality)
only conversion elements
can have tuning inputs
all elements are connected
by action/ reaction (power link)
(systemic)
valuable for control design
EMR’16
UdS - Longueil
June 2016
Summer School EMR’16
“Energetic Macroscopic Representation”
3. « EMR of a complete system »
Prof. Alain BOUSCAYROL, Dr. Walter LHOMME
(University Lille1, L2EP)
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
OKy2
x2
- Association rules: direct connection -
x2
y2y1
x1 x3
y3
direct connection if:
Out(S1) = In (S2)
In(S1) = Out(S2)
S1 and S2 any sub-systems
Bat
VDC
iL
u
VDC VDC
iLiL
iL
u
L iL
VDC
iL
iL
u
uVidt
dL DCL
i state variable
Example
Bat
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
x1
x1y2
y2
x1
y1 x1
y3
- Association rules: merging rule -
NO
2 accumulation elements
would impose the same
state variable x1
Conflict of association
merging
x1
y3x1
y1
1 equivalent function for
2 elements / systemic
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« Energetic Macroscopic Representation (EMR) »
EMR’16, UdS Longueil, June 2016
x2
y2y1
x1 x3
y3
x’2
y’2y1
x1 x3
y3
- Association rules: permutation rule -
permutation possible if same global behavior:
strictly the same effects (y1 and x3) from the same causes (x1 , y3 and z)