Metrobüs Şaft Torkunun Sınırlandırılmasına Yönelik Hibrit Güç Aktarma Yapısı ve Güç Yönetim Sistemi Tasarımı
Abstract
Bu yayında, İstanbul trafiğinde aktif olarak
kullanılmakta olan metrobüslerin kullanım ömürlerinin artırılmasına yönelik bir
hibrit güç aktarma mimarisi önerilmiş, bu yapıyla birlikte kullanılacak bir güç
yönetim algoritması geliştirilmiş ve yeni ortaya çıkan sonuçlar analiz
edilmiştir. Çalışmanın amacı mevcut metrobüslerin çekiş barındırmayan aksına
iki adet harici elektrik motoru takılarak, bu motorların uygun durumlarda
devreye alınmasıyla aracın orijinal çekiş yükünün azaltılması ve şaft torkunun
sınırlandırılmasıdır. Bu sayede, şaft ömrünün artırılması amaçlanmıştır.
Eklenecek motorların ne zaman devreye alınıp devreden çıkarılacağına, ne zaman
motor veya jeneratör olarak çalıştırılacaklarına yönelik kararları alacak güç
yönetim algoritması, öncelikle benzetim ortamında denenmelidir. Benzetimlerin
gerçekçi sonuç verebilmesi için ise, aracın ve yolun yüksek doğrulukla
modellenmesi gerekmektedir. Benzetimlerde kullanılan tek izli boylamsal dinamik
modelin geliştirilebilmesi için, metrobüs üzerinden sürüş esnasında deneysel
veri toplanmış ve bu veriler model içerisine entegre edilmiştir. Bunun yanında
metrobüs hattına ait eğim ve hızlanma verileri de elde edilerek performans
benzetimleri için altyapı oluşturulmuştur. Ayrıca güç yönetim algoritmasının
geliştirilebilmesi için, aracın orijinal durumunda şoförün hangi gaz pedal
açıklığında ne kadar tork talebinde bulunduğuna dair haritanın da bilinmesi
oldukça kritiktir ve bu çalışmada bu haritanın nasıl elde edildiği de
gösterilmektedir. Son olarak, güç yönetimi için geliştirdiğimiz kural tabanlı
bir kontrol algoritması hakkında bilgi verilmiş ve elde edilen sonuçlar analiz
edilmiştir. Yapılan benzetimler sonucunda, kullanılan tork-hasar eğrisine göre
şaft ömrünün %75.86 oranda artırıldığı gözlemlenmiştir.
References
- Baumann BM, Washington G, Glenn BC, Rizzoni G. 2000, “Mechatronic Design and Control of Hybrid Electric Vehicles”, IEEE/ASME Transactions on Mechatronics, 5(1), 58–72.
- Bohn C, Atherton DP, 1995, “An Analysis Package Comparing PID Anti-Windup Strategies”, IEEE Control Systems, 15(2), 34-40.
- Brosilow C, Joseph B., 2002, Techniques of Model-Based Control, Prentice Hall Professional.
- Emadi A, Rajashekara K., Williamson SS, Lukic SM., 2005, "Topological Overview of Hybrid Electric and Fuel Cell Vehicular Power System Architectures and Configurations" IEEE Transactions on Vehicular Technology, 54(3), 763-770.
- Genta G., 1997, Motor Vehicle Dynamics Modeling and Simulation, Singapore, World Scientific.
- Kessels J, Koot M, Bosch P, Kok D., 2008, “Online Energy Management for Hybrid Electric Vehicles” IEEE Transactions on Vehicular Technology, 57(6), 3428–3440.
- Lee YL, Barkey ME., 2005, Development of Accelerated Life Test Criteria, Lee YL, Pan J, Hathaway R, Barkey M. Fatigue Testing and Analysis, Elsevier Inc., 313–337.
- Liu T., Hu X., Li S., Cao D., “Reinforcement Learning Optimized Look-Ahead Energy Management of a Parallel Hybrid Electric Vehicle”, 2017, IEEE/ASME Transactions on Mechatronics, 99, 1-11.
- Paganelli G, Guerra T, Delprat S, Santin J, Delhom M, Combes E., 2000, “Simulation and Assessment of Power Control Strategies for a Parallel Hybrid Car,” Proceedings of the Institution of Mechanical Part D: Journal of Automobile Engineering, 214(7), 705–717.
- Pisu P, Rizzoni G., 2007, “A Comparative Study of Supervisory Control Strategies for Hybrid Electric Vehicles”, IEEE Trans. Control Syst. Technol. 15(3), 506-518.
- Pradhan MN, Gaikwad HT.,, 2015 “Fatigue Analysis of Composite Drive Shaft,” International Journal of Engineering Research and Technology, vol. 4(5), 484-489.
- Prez RV, Bossio GR, Moitre D, Garca GO., 2006., “Optimization of Power Management in an Hybrid Electric Vehicle Using Dynamic Programming”, Mathematics and Computers in Simulation, 73(14), pp. 244 – 254
- Rajamani R., 2006. Vehicle System Dynamics and Control, United States, Springer.
- Rice RC., 1997, SAE Fatigue Design Handbook,, Society of Automotive Engineers.
- Ripaccioli G, Bemporad A, Assadian F, Dextreit C, Cairano SD, Kolmanovsky IV., 2009, “Hybrid Modeling, Identification, and Predictive Control: An Application to Hybrid Electric Vehicle Energy Management”, Proc. of Hybrid Systems: Computation and Control, 5469, 321–335.
- Sezer V., Gökaşan M., Bogosyan S., 2011, “A Novel ECMS and Combined Cost Map Approach”, IEEE Trans. On Vehicular Technology, 60(8), 3557-3570.
- Sezer V., Ünsal A.H., Timuçin B., Kurar A.F., Akçil L., 2015, Gökaşan M., Muğan A., “Metrobüs Çekiş Karakteristiğinin İyileştirilmesine Yönelik Veri Toplama-Modelleme Çalışmaları ve Güç Dağıtım Kontrolörü Geliştirilmesi”, Otomatik Kontrol ulusal Konferansı, TOK 2015, Denizli, Türkiye, 729-734.
- Shigley JE, Mischke CR, Budynas RG, Liu X, Gao Z., 1989, Mechanical Engineering Design, New York, USA, McGraw-Hill. Siuru B., 2004, “Phileas: A New Idea in Public Transport”, Mass Transit, 25(2), 44-46.
- Vagg, C., Akehurst, S., Brace, C. J., Ash, L., 2016, “Stochastic Dynamic Programming in the Real-World Control of Hybrid Electric Vehicles”. IEEE Transactions on Control Systems Technology, 24(3), 853-866.
Design of Hybrid Power Transmission Architecture and Power Management Strategy for Metrobus Shaft Torque Limitation
Abstract
In this paper, an improved hybrid powertrain is proposed for extending
the lifetime of original drive shaft of the Metrobuses that are being actively
used in İstanbul traffic. A new power management method for the proposed
powertrain is developed and the results of the method are analyzed along the
study. The aim of the study is decreasing the operating load of the original
axle and extend its lifetime by mounting two additional electric machines to
one of the non-driven axles. The power control method which calculates the
correct timing of the machines when to be used as a motor/generator or when to
activate and deactivate them, should be tested in simulation environment first.
In order to get realistic results from simulations, the models must be
reliable. In order to develop the single-track dynamic model of the vehicle,
experimental data is collected under real driving condition and is integrated
into the model. Besides this, the collected road slope and metrobus
acceleration data provides an infrastructure for performance simulations. On
the other hand, the throttle-torque map is very critical to understand the
driver’s torque request. In this study, derivation of the torque map from
experimental data is also explained. Finally, a rule based power management
algorithm for lifetime extension is developed along the paper and its results
are analyzed at the end of the work. According to the simulation results, the
lifetime of the driving shaft of the original metrobus is extended by 75.86% in
proposed hybrid powertrain.
References
- Baumann BM, Washington G, Glenn BC, Rizzoni G. 2000, “Mechatronic Design and Control of Hybrid Electric Vehicles”, IEEE/ASME Transactions on Mechatronics, 5(1), 58–72.
- Bohn C, Atherton DP, 1995, “An Analysis Package Comparing PID Anti-Windup Strategies”, IEEE Control Systems, 15(2), 34-40.
- Brosilow C, Joseph B., 2002, Techniques of Model-Based Control, Prentice Hall Professional.
- Emadi A, Rajashekara K., Williamson SS, Lukic SM., 2005, "Topological Overview of Hybrid Electric and Fuel Cell Vehicular Power System Architectures and Configurations" IEEE Transactions on Vehicular Technology, 54(3), 763-770.
- Genta G., 1997, Motor Vehicle Dynamics Modeling and Simulation, Singapore, World Scientific.
- Kessels J, Koot M, Bosch P, Kok D., 2008, “Online Energy Management for Hybrid Electric Vehicles” IEEE Transactions on Vehicular Technology, 57(6), 3428–3440.
- Lee YL, Barkey ME., 2005, Development of Accelerated Life Test Criteria, Lee YL, Pan J, Hathaway R, Barkey M. Fatigue Testing and Analysis, Elsevier Inc., 313–337.
- Liu T., Hu X., Li S., Cao D., “Reinforcement Learning Optimized Look-Ahead Energy Management of a Parallel Hybrid Electric Vehicle”, 2017, IEEE/ASME Transactions on Mechatronics, 99, 1-11.
- Paganelli G, Guerra T, Delprat S, Santin J, Delhom M, Combes E., 2000, “Simulation and Assessment of Power Control Strategies for a Parallel Hybrid Car,” Proceedings of the Institution of Mechanical Part D: Journal of Automobile Engineering, 214(7), 705–717.
- Pisu P, Rizzoni G., 2007, “A Comparative Study of Supervisory Control Strategies for Hybrid Electric Vehicles”, IEEE Trans. Control Syst. Technol. 15(3), 506-518.
- Pradhan MN, Gaikwad HT.,, 2015 “Fatigue Analysis of Composite Drive Shaft,” International Journal of Engineering Research and Technology, vol. 4(5), 484-489.
- Prez RV, Bossio GR, Moitre D, Garca GO., 2006., “Optimization of Power Management in an Hybrid Electric Vehicle Using Dynamic Programming”, Mathematics and Computers in Simulation, 73(14), pp. 244 – 254
- Rajamani R., 2006. Vehicle System Dynamics and Control, United States, Springer.
- Rice RC., 1997, SAE Fatigue Design Handbook,, Society of Automotive Engineers.
- Ripaccioli G, Bemporad A, Assadian F, Dextreit C, Cairano SD, Kolmanovsky IV., 2009, “Hybrid Modeling, Identification, and Predictive Control: An Application to Hybrid Electric Vehicle Energy Management”, Proc. of Hybrid Systems: Computation and Control, 5469, 321–335.
- Sezer V., Gökaşan M., Bogosyan S., 2011, “A Novel ECMS and Combined Cost Map Approach”, IEEE Trans. On Vehicular Technology, 60(8), 3557-3570.
- Sezer V., Ünsal A.H., Timuçin B., Kurar A.F., Akçil L., 2015, Gökaşan M., Muğan A., “Metrobüs Çekiş Karakteristiğinin İyileştirilmesine Yönelik Veri Toplama-Modelleme Çalışmaları ve Güç Dağıtım Kontrolörü Geliştirilmesi”, Otomatik Kontrol ulusal Konferansı, TOK 2015, Denizli, Türkiye, 729-734.
- Shigley JE, Mischke CR, Budynas RG, Liu X, Gao Z., 1989, Mechanical Engineering Design, New York, USA, McGraw-Hill. Siuru B., 2004, “Phileas: A New Idea in Public Transport”, Mass Transit, 25(2), 44-46.
- Vagg, C., Akehurst, S., Brace, C. J., Ash, L., 2016, “Stochastic Dynamic Programming in the Real-World Control of Hybrid Electric Vehicles”. IEEE Transactions on Control Systems Technology, 24(3), 853-866.
Details
| Subjects | Engineering |
|---|---|
| Journal Section | Articles |
| Authors | |
| Publication Date | January 31, 2018 |
| Submission Date | May 26, 2017 |
| Acceptance Date | November 13, 2017 |
| Published in Issue | Year 2018 Volume: 8 Issue: 1 |
