Gestión energética de vehículos hibridos usando control predictivo económico
- Autores: José Luis Sampietro Saquicela
- Directores de la Tesis: Vicenç Puig (dir. tes.), Ramón Costa Castelló (dir. tes.)
- Lectura: En la Universitat Politècnica de Catalunya (UPC) ( España ) en 2019
- Idioma: español
- Tribunal Calificador de la Tesis: Joaquim Blesa (presid.), Enric Vidal Idiarte (secret.), Mauro Guido Carignano (voc.)
- Programa de doctorado: Programa de Doctorado en Automática, Robótica y Visión por la Universidad Politécnica de Catalunya
- Materias:
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- Resumen
Every method of energy generation and transmission affects the environment. Under this principle, conventional generation options based on fossil fuels, such as coal, gasoline, diesel, among others, are progressively causing damage to air, climate, water, land, wildlife, landscape, and raising levels of harmful radiation. Renewable technologies are substantially safe and offer a solution to many environmental and social problems associated with fossil and nuclear fuels. Within the electricity generation from non-clean fuels, the transport sector occupies a high percentage of the total emissions. For this reason, the development from only using combustion engine vehicles to hybrid, electric and fuel cell vehicles has been made.
In this work, hybrid electric vehicles with fuel cells as the main generation source are studied. Within this analysis, a type of vehicle is characterized, which is an urban service bus. The operating parameters are based on the analysis of the selected speed profiles. Besides, power profiles are generated for the vehicle. Some profiles are chosen, such as the Buenos Aires driving cycle, and the Manhattan driving cycle, whose characteristics of speed, acceleration, and distance are analyzed. The speed profiles have moments when the bus brakes to stop at the respective stops, and in some cases, during the intermediate journeys. We use the concept of regenerative braking and propose as elements of energy storage and recovery, batteries, and supercapacitors. The combination allows a better use of the total braking energy, due to the high power and energy density of the supercapacitors and the battery respectively.
Once the structure and type of vehicle have been defined and its components have been modeled, defining their power and energy capacities, the optimum scenario is sought through dynamic programming. Taking into account different multi-objective, cost functions are proposed, which take into account the hydrogen savings in the fuel cell and the health of the components. Results are presented for both profiles and various cost functions, analyzing system behavior and presenting Pareto diagrams for tuning the weights of the respective functions. Then, the EMPC controller is designed, which in addition to the conventional criteria, takes into account the cost of generating the elements. Several simulations are performed with the proposed models and different efficiency values of the components. The analysis of various cost functions is also performed, and the results are compared with dynamic programming and the behavior of the system in the face of various sizes of prediction horizon is analyzed.
Finally, a trajectory planning is made, taking into account the number of bus stops, and taking into account the dynamics of the bus operation. In this sense, we obtain certain maximum and minimum speed paths from the driving profiles, which are made from the maximum and minimum acceleration data of the driving profiles. With this trajectory planner, we propose a robust EMPC control, which ensures that the controller is able to meet these new power requirements. The mathematical study of the new controller is performed to ensure stability and reachability characteristics, and the results are presented in comparison with PD and pure EMPC.
