Documente Academic
Documente Profesional
Documente Cultură
4, DECEMBER 2012
AbstractUnderstanding the need for improvement in moni- would be a reason to shut down the power transfer between the
toring and protection in high performance charging technology grid and the vehicle [4].
for a growing demand of EVs/PHEVs, this research manuscript Furthermore, the relatively new lithium-ion battery is very
presents a part of an ongoing project and proposes a novel low
cost dual purpose triangular neural network based module for promising as it is estimated that it can increase the driving range
power quality monitoring and protection (M&P) and elicits up to 300 miles and hence, replace the conventional lead-acid
its performance in times of abnormalities or malfunction in a and nickel-cadmium batteries. This increase in driving range at
high performance off-board level 3 bi-directional charger for approximately the same car efficiency in energy/mile implies
electric vehicles. Firstly, design and implementation of the low
cost dual purpose triangular neural network based device for a higher charger power is necessary within the same or lesser
monitoring the power quality and hence, protecting the grid has charging time [5]. It is estimated that the EV charger current
been explained and its performance has been presented through would be nearly doubled in the immediate future which would
numerical investigations. Going a step further, the device has be a potential cause for deterioration in power quality if the har-
also been experimentally tested using an in-house electric vehicle
containing a commercially available battery charger and the monics increase and the power factor degrades.
measured results are analyzed. Secondly, a high-performance Over the years there is a lot of research performed to under-
vector-controlled bi-directional off-board level-3 charger for stand and predict the stress on the power system that would be
faster and efficient charging has been developed and investiga- caused due to the heavy inrush of electric vehicles and their
tions have been performed on the healthy charger to analyze its
performance. The primary aim of developing this charger was chargers. Also, there has been a growing concern for the utility
to elicit the usage and performance of the previously developed companies to protect the grid as the new concept of distributed
M&P device to protect the grid in case of some typical charger generation has swept in and would be rapidly utilized in the near
malfunction problem in such a charger, which is not detectable by future. Since, the power utility companies would have limited
conventional low cost sensors employed with such chargers. Once control over the chargers and the quality of power the chargers
the module detects any abnormalities in the chargers operation,
information gathered can be used to tune the controller in the consume or supply, it is of paramount importance to monitor the
charger to obtain a constant improved performance of the charger power quality and protect the grid in case of some typical ab-
or the power transfer can be terminated. normal operation of such chargers [1][3].
Index TermsArtificial neural network, bi-directional off-board Sufficient background literature obtained from [1][6]
level-3 charger, electric vehicles, monitoring and protection, makes one understand and conclude that as the market for
plug-in hybrid electric vehicles, triangular functions. EVs/PHEVs keeps increasing, it is of paramount importance
to improve power quality by: 1) improving the state of art
I. INTRODUCTION battery charging technology to maintain displacement power
R ESEARCH performed in this paper along with literature factor to unity, lesser total harmonics distortion (THD) in the
obtained from [1][3] show that some commercially current sourced/sunk (less than 5% as prescribed by IEEE 519
available chargers on-board electric vehicles still have poor standard), enabling bi-directional power flow, and additionally
power quality characteristics in terms of injection of harmonics charge the battery faster; and 2) protecting the grid against any
into the system. These chargers contain power electronic cir- malfunction of components through monitoring and protection
cuits which, due to their nonlinear nature, cause power quality devices. The proposed M&P device is mandatory as it would
problems on the electric utility distribution system. Hence, be useful in monitoring the power quality of the state-of-the-art
the effect of unwanted harmonics beyond a certain level alone commercially available off-board three phase chargers and also
monitor the high performance charger for its malfunction and
component breakdown; and hence protect the grid by issuing
Manuscript received January 23, 2012; revised April 26, 2012; accepted June information for proper compensation or termination of power
05, 2012. Date of publication August 07, 2012; date of current version De- transfer between the grid and the vehicle.
cember 28, 2012. This work was supported by the Natural Sciences and En-
gineering Research Council of Canada. Paper no. TSG-00038-2012. Stand-alone and combinatorial neural network (NN) based
The authors are with the Centre for Hybrid Automotive Research and schemes have been widely used in the field of electric vehi-
Green Energy, University of Windsor, Windsor, ON N9B 3P4, Canada cles research in specific areas of the battery state-of-charge es-
(e-mail: lu117@uwindsor.ca; iyerl@uwindsor.ca; kmukh@uwindsor.ca; timation, control of electric machine drives and electrical dif-
nkar@uwindsor.ca).
Color versions of one or more of the figures in this paper are available online
ferential, study of charge/discharge cycles of batteries and en-
at http://ieeexplore.ieee.org. ergy management systems (EMS). [7] illustrates the NN based
Digital Object Identifier 10.1109/TSG.2012.2205950 SOC estimation, [8] studies the charge discharge cycles of the
(1)
Fig. 2. Flowchart of the step by step process involved in calculating the com-
ponents of the input signal.
According to triangular equality, (1) is then rewritten as in (2)
Based on negative gradient descent method, the weights-itera-
tive formula for the proposed neural network could be defined
as
(2)
Therefore, the triangular functions basis neural network is con- (7)
structed as shown in Fig. 1. The input and output layers of
the constructed neural network each employs a linear function where
,( , is number of samples) as their
activation function, and the hidden neurons are activated with
triangular functions where denotes
the number of hidden neurons and is defined as fol-
lows:
(3)
where denotes the angular frequency of fundamental compo-
nent. The input-output relation in the triangular neural network
could be given as follows: denotes the iterative, is the learning
rate [24]. Now, let be small enough to guarantee the
(4) convergence of training procedure, then the optimal weights of
the triangular neural network can be solved using iterative (7).
For this special structure neural network model, it can globally
The parameters , denote the weights be- converge to its optimal weights if the learning rate is small
tween the hidden-layer and output-layer neurons. According to enough; i.e., following the theorem [25].
(1)(4), by solving the weights vector of the neural network, the Theorem: When , the itera-
dc component and amplitude and phase of the -th harmonic tive weights series in (7) will converge to optimal
could be calculated by (5). weights vector , where denotes the
maximum eigen value of , and denotes the pseu-
doinverse of matrix .
(5) Fig. 2 shows the flowchart of the proposed ANN based
harmonics estimation method. In this investigation, the funda-
mental frequency is considered as 60 Hz, the learning rate is
and the maximum order of signal, , is 9. Therefore,
C. Learning Rules and Global Convergence the number of hidden layers of the ANN is 19 in
Assuming pairs of training data sets this investigation. Ten points (i.e., ) are sampled for
matrix, sampled from the current or voltage signals in power each iteration at a sampling rate of according to
system, the performance function can be defined as follows: Shannons theorem. The objective error is set to be 0.001.
TABLE I
CURRENT HARMONICS DATA
Fig. 6. Overall block diagram of the M&P device integrated with the developed three-phase bi-directional charger.
TABLE II
TYPICAL MEASURED DATA OF VOLTAGE, CURRENT AND HARMONIC COMPONENTS DURING BATTERY CHARGING AT THE GRID SIDE
F. Experimental Investigation Performed on a Commercially shows the measured results obtained as output of the M&P de-
Available In-House Electric Vehicle vice. The measured results obtained as outputs of the M&P de-
In order to study the quality of voltage and current profiles vice are in closer agreement with the values measured by the
during charging of the battery, experiments were performed measuring devices, thus validating the performance of the M&P
using a commercially available, state-of-the-art battery electric device.
vehicle. Phase current, voltage, total harmonic distortion, and
other components of current were measured using a Tektronix III. ROLE OF THE PROPOSED M&P DEVICE FOR PROTECTION
2024 digital storage oscilloscope, Fluke 434 power quality AGAINST MALFUNCTIONING OF CONTROLLER IN A
analyzer. The measured values of phase current, voltage are as BI-DIRECTIONAL OFF-BOARD LEVEL-3 CHARGER
shown in Table II for two different states of charging, i.e., Case This section initially presents the development of a high-per-
I and Case II. Table II also shows the measured total harmonic formance level-3 off-board G2V/V2G battery charger operating
distortion (THD) and amplitude of all the components of the under vector control strategy. It then focuses on some peculiar
current waveform. problems manifested in terms of its ac side currents if the con-
When the battery was charged from a very low SOC of 5% trol algorithm malfunctions for reasons, namely, error in on-
the on-board charger controller keeps the reference charging line estimation of an important control parameter, noises etc.
current closer to 1.5 A (Case 1). The measured THD at this These problems may be potentially dangerous for the distribu-
instant is closer to 9.5%. It can be inferred that the amount tion mains but may not be detectable by conventional inexpen-
of harmonics inserted into the current waveform is rather high sive protection schemes. Finally, it has been demonstrated how
(keeping in view IEEE 519 power quality standard) at lower the developed ANN-based low cost M&P device has been found
levels of charging current under trickle mode (Case I). This to detect such problems effectively to protect the system under
is typical of the single-phase PWM rectifier based resistor-emu- such abnormal conditions.
lating dc-dc converter based battery-chargers [26]. The charging
current later rises to close to 15 A after a particular SOC has A. Description of the Battery Charger System
reached (Case II). The THD at this instant is measured to be The proposed high-performance 3-phase battery charger em-
around 5.2%. As discussed in the previous section these har- ploys a two-stage power converter system consisting of a grid-
monics injected into the system might cause detrimental effects side 2-level IGBT-based voltage source converter (VSC) and
on the distribution grids transformers and feeders. Also, the bat- a two-quadrant buck-boost current-controlled dc-dc converter
tery charger readily fitted on-board takes around 8 h to charge at the battery side. The dc-dc converter is employed to control
the battery from 0% to 100% SOC. the charging rate for its optimal performance and the grid-side
In order to perform experimental verification of the devel- VSC is employed to ensure that the power factor at the point
oped M&P device, it was installed between the vehicles single- of common coupling (PCC) can be ideally maintained at unity,
phase charger and the distribution grid to monitor the grid cur- thereby maximizing the power flow in either direction. The grid-
rent waveform for THD and harmonic components. Table II also side VSC is generally controlled by adopting a technique very
LU et al.: DUAL PURPOSE TRIANGULAR NEURAL NETWORK BASED MODULE 1675
similar to the field-oriented/vector control of electrical ac ma- current of the battery, as would be dictated by the battery
chines [27], [28]. management system of the electric vehicle in practice. The
Marwali, Dai et al. have worked extensively on some papers focus of the paper is kept on the VSC power stage design and
on significant issues of robust control and stability [29] of its control, as the main purpose of the paper is to justify the
bi-directional active and reactive power flow in two-level, relevance of the proposed neural network based M&P scheme
H-bridge converters used in distributed generation and/or UPS that is mandatory for certain noteworthy situations arising in
applications in grid-connected and/or islanded mode [30], case of malfunctioning of the high-performance vector control
using advanced novel Robust Servomechanism Controller scheme and would be discussed in a later section.
for voltage control and Discrete Sliding Mode Controller
for current control [31][33]. Their work encompasses bal- B. The Comprehensive Control Scheme
anced, unbalanced as well as nonlinear loading effects [32]. In The block diagram for the comprehensive control technique
spite of the complex computation-intensive control structure, of the static charger, similar to vector control of electrical ma-
they have successfully implemented the strategies through chines, is presented in Fig. 7. As the principle of vector control
high-end DSP platforms in real time, achieving superior per- is well-established, it is not detailed here and only key findings
formance indices, namely, voltage THD below 1%, current are mentioned. The outer dc link voltage control loop here is
THD almost negligible and settling time for active and reactive similar to the outer speed control loop for a speed controlled
power to within 300800 ms [29], [31], [33]. Fig. 6 shows machine drive application. The concepts of inner current con-
the scheme for implementing the G2V-V2G power converter trol loops are almost similar here. In this charger control, the
based charger based on the vector-control technique, which d-axis and q-axis current control loops control the active and
has been considered in this paper ultimately yielding settling reactive power, whereas in electrical machine drives, the d-axis
time to less than one power frequency cycle. The rating of the and the q-axis currents would have controlled flux and torque of
high-performance battery charger system with bi-directional the rotating machine, respectively.
power flow capability considered is 10 kW. The maximum The control structure initiates with the reference value of the
controlled charging current of 20 A at 500 V dc level dc link voltage and the q-axis reference current .
has been considered to be ultimately derived from/feeding the They are set at 500 V and 0 respectively as the VSC has to act
3-phase 60 Hz, 208 V ac grid, depending on the direction of as a boost converter and a unity power factor has to be main-
power flow. The IGBT-based VSC has a bank of electrolytic ca- tained at the utility grid respectively. It is noteworthy in the con-
pacitors (equivalent capacitance ) at its dc side and a bank of trol scheme (Fig. 7) that, for healthy vector control with proper
ac chokes ( and represent the loss-emulating component decoupling, a feedforward of the VSC dc side current
and the inductance value of each choke) connected between its by a factor of , (where is the ratio of the magnitude
ac side and the grid. This arrangement makes the VSC act as of the utility voltage space vector and the value of the dc link
a boost converter, whose dc link voltage would be controlled voltage) is a must, for finding the proper d-axis current refer-
at 500 V dc, which is much greater than the peak of the ac side ence. A proper online estimation technique to determine the
line-to-line voltage. A 20 A dc current at 500 V dc corresponds value of , even in the transient conditions is particularly
to 27.76 A (rms) line current at the 208 V (rms, line to line) challenging and has been performed successfully in dynamic as
ac side at unity power factor, which will be maintained by well as steady operating conditions, as would be evident from
properly controlling the switching of the transistors (IGBTs) of the calculated waveforms, presented in Section III-C. However,
the VSC. The current controlled bi-directional dc-dc converter abnormal situations are additionally simulated by deliberately
at the battery end should be a 2-quadrant one, where the voltage disturbing the successful estimation technique in dynamic con-
polarity does not change but the dc current polarity should ditions and have given rise to some noteworthy phenomena, dis-
change depending whether it is a G2V or V2G application. The cussed in Section III-D.
direction of average power flow or current (Fig. 6) for G2V
application has been considered positive in the calculations and C. Performance of the Proposed Battery Charger
analysis, and would therefore be negative for V2G. The design The waveforms illustrated in Fig. 8(a) to (c) which depict
of the bi-directional dc-dc converter is not considered in detail the performance of the charger, under healthy conditions, are
in this work and the load of the VSC at the dc side is modeled as corresponding to the following operating conditions:
a variable dc current source, representing the equivalent effect At the uncharged state of the dc link capacitor, initially it is
of the actual dc current that may be the charging/discharging ensured that the battery does not draw any current. The dc link
1676 IEEE TRANSACTIONS ON SMART GRID, VOL. 3, NO. 4, DECEMBER 2012
Fig. 8. Calculated results illustrating the healthy performance of the developed high performance level-3 bi-directional battery charger. (a) DC-link voltage
and current waveforms ( Voltage, Current). (b) d and q axis grid currents ( d- axis current, q-axis current). (c) Grid phase voltage and phase current
( Voltage, Current).
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Parhasarathy, ANN applications in fault locators, Elec. Power ment of Electrical Engineering, Jadavpur University, India as a Lecturer. From
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1993. Computer Engineering Department at the University
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voltage and current control for distributed generation systems, IEEE Research Chair position in hybrid drivetrain systems.
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four-wire inverter control technique for a single distributed generation electric vehicle and wind power applications, testing and performance analysis
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322331, Jan. 2008. agement systems.