Advanced Electrified Automotive Powertrain with Composite DC-DC
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Advanced electrified automotive powertrain with composite DC-DC converter by Hua Chen B.Eng., The Chinese University of Hong Kong, 2010 M.S., University of Colorado Boulder, 2014 A thesis submitted to the Faculty of the Graduate School of the University of Colorado in partial fulfillment of the requirements for the degree of Doctor of Philosophy Department of Electrical, Computer, and Energy Engineering 2016 This thesis entitled: Advanced electrified automotive powertrain with composite DC-DC converter written by Hua Chen has been approved for the Department of Electrical, Computer, and Energy Engineering Prof. Robert Erickson Prof. Dragan Maksimovic Date The final copy of this thesis has been examined by the signatories, and we find that both the content and the form meet acceptable presentation standards of scholarly work in the above mentioned discipline. iii Chen, Hua (Ph.D., ECEE) Advanced electrified automotive powertrain with composite DC-DC converter Thesis directed by Prof. Robert Erickson In an electric vehicle powertrain, a boost dc-dc converter enables size reduction of the electric machine and optimization of the battery system. Design of the powertrain boost converter is challenging because the converter must be rated at high peak power, while efficiency at medium to light load is critical for the vehicle system performance. The previously proposed efficiency improvement approaches only offer limited improvements in size, cost and efficiency trade-offs. In this work, the concept of composite converter architectures is proposed. By emphasizing the direct / indirect power path explicitly, this approach addresses all dominant loss mechanisms, resulting in fundamental efficiency improvements over wide ranges of operating conditions. The key component of composite converter approach, the DC Transformer (DCX) converter, is extensively discussed in this work, and important improvements are proposed. It enhances the DCX efficiency over full power range, and more than ten times loss reduction is achieved at the no load condition. Several composite converter prototypes are presented, ranging from 10 kW to 60 kW rated power. They validate the concept of composite converter, as well as demonstrate the scalability of this approach. With peak efficiency of 98.5% to 98.7% recorded, the prototypes show superior efficiency over a wide operation range. Comparing with the conventional approach, it is found that the composite converter results in a decrease in the total loss by a factor of two to four for typical drive cycles. Furthermore, the total system capacitor power rating and energy rating are substantially reduced, which implies potentials for significant reductions in system size and cost. A novel control algorithm is proposed in this work as well, which proves the controllability of the composite converter approach. Dedication To my father v Acknowledgements The author would like to acknowledge the assistance, guidance, and support from my super- visors Professors Robert Erickson and Dragan Maksimovic. There knowledge in power electronics is unparalleled, and I have learnt invaluable lessons from their style of organizing and presenting technical materials. Without their supervision and encouragement, the completion of this thesis would not be possible. I would also like to acknowledge the assistance from my committee members, Professors Khurram Afridi, David Jones, and Daniel Costinett, and thank them for agreeing to take their precious time to serve as my thesis committee. In addition, I would like to thank Professor Alex Leung from the Chinese University of Hong Kong, who first introduced me into the world of electronics, and gave me useful professional advices throughout my career. I would like to thank Dr. Yanqi Zheng from Sun Yat-sen University, who led me to the wonderful field of power electronics. I would also like to thank Professor Lucy Pao from University of Colorado Boulder, who gave me the chance to explore different fields of engineering. I would like to thank my colleagues in Colorado power electronics center (CoPEC) for their inspiring discussions. I would like to thank Mr. Kamal Sabi and Mr. Tadakazu Harada for their assistance at different stages of my research. I am especially grateful to the assistance from Mr. Hyeokjin Kim, whose diligence sometimes makes me abashed. Finally, I would like to acknowledge both the financial and emotional support from my family. Especially I would like to thank the support and understanding from my wife Qian Jia throughout the years. vi Contents Chapter 1 Electrified Automotive Powertrain Overview 1 1.1 Powertrain architecture overview . 2 1.1.1 Battery Electric Vehicle (BEV) . 3 1.1.2 Hybrid Electric Vehicle (HEV) . 5 1.1.3 Fuel Cell Electric Vehicle (FCEV) . 7 1.2 Power electronics in electrified powertrain . 8 1.3 Powertrain application characteristics . 10 1.4 Modeling of electrified traction systems . 12 1.4.1 Vehicle model . 12 1.4.2 Electric machine model . 14 1.4.3 Motor drive and dc bus voltage control . 16 1.4.4 Electrified traction system simulation . 17 2 Boost DC-DC Converter Technology Overview 22 2.1 Conventional boost converter . 22 2.1.1 Conventional boost converter operation . 22 2.1.2 Boost converter loss model . 24 2.1.3 Conventional boost converter efficiency prediction . 28 2.2 Soft switching techniques . 31 vii 2.2.1 Operation of SAZZ converter . 32 2.2.2 SAZZ converter efficiency prediction . 33 2.3 Coupled inductor approach . 34 2.3.1 Coupled inductor boost converter operation . 36 2.3.2 Coupled inductor boost converter efficiency prediction . 38 2.4 Three-level converter . 40 2.4.1 Three-level converter operation . 41 2.4.2 Three-level converter efficiency prediction . 43 2.5 Impedance-source inverter . 45 2.5.1 Impedance-source inverter operation . 46 3 Composite DC-DC Converter Concept 50 3.1 Direct / indirect power and power loss . 50 3.2 Composite converter architecture A . 56 3.3 Composite converter architecture B . 59 3.4 Composite converter architecture C . 61 3.5 Composite converter architecture D . 63 3.6 Comparison of converter approaches . 66 3.6.1 Generic comparison . 66 3.6.2 Composite converter comparisons . 70 3.6.3 Comparison with efficiencies of prior approaches . 71 3.6.4 Comparison of average efficiency over standard driving test cycles . 73 3.6.5 Converter size comparison . 74 4 DC Transformer and Efficiency-Enhanced Dual Active Bridge 77 4.1 DCX operation and simplified model . 78 4.1.1 Ideal active rectification . 79 4.1.2 Passive rectification . 80 viii 4.2 DCX soft switching analysis . 84 4.2.1 Ideal resonance analysis . 84 4.2.2 Nonlinear capacitance treatment . 88 4.3 DCX loss model . 90 4.3.1 Semiconductor loss . 90 4.3.2 Magnetic loss . 93 4.3.3 Loss model and measurement comparison . 96 4.4 DCX light load efficiency improvement . 99 4.4.1 Conventional approaches . 100 4.4.2 Extended LLCC resonant transition . 102 4.4.3 Experimental validation . 109 4.5 DCX heavy load efficiency improvement . 120 4.6 Efficiency-enhanced Dual Active Bridge control . 125 5 Implementation Examples of Composite DC-DC Converter 131 5.1 10 kW silicon-device-based prototype . 131 5.1.1 Design optimization . 132 5.1.2 Comparison with Conventional Boost Converter . 134 5.1.3 Experimental Results . 139 5.2 30 kW silicon-device-based prototype . 142 5.2.1 Magnetics design . 144 5.2.2 Measurement results . 155 5.2.3 30 kW prototype second revision . 159 5.3 60 kW silicon-device-based prototype . 164 5.3.1 Current balancing control . 166 5.3.2 60 kW system measurement results . 170 5.4 High power density design with wide bandgap devices . 173 ix 6 Control of Composite DC-DC Converter 178 6.1 Proposed Control Algorithm . 178 6.1.1 Main control loop . 180 6.1.2 DCX voltage limit . 182 6.1.3 Boost-only mode . 184 6.1.4 Auxiliary current loop with band-pass filter . 186 6.1.5 Summary of controller architecture . 188 6.2 Experimental result of proposed controller operation . 190 7 Conclusion and extension of the work 198 Bibliography 202 Appendix A DCX Extended LLCC Resonance Modeling 210 A.1 Derivation of fourth-order state plane transformation . 210 A.2 Complete DCX resonant model . 213 B Implementation of efficiency-enhanced DAB control 221 x Tables Table 1.1 A typical mid-size sedan vehicle model parameters . 17 1.2 A typical traction PMSM model parameters . 17 1.3 Converter quality factor Q comparison between the composite D converter and the conventional boost converter, under standard driving cycles . 20 2.1 1200 V 200 A 2MBI200VB-120-50 IGBT Module Loss Model . 29 2.2 Conventional Boost Design Summary . 29 2.3 Converter quality factor Q of the conventional boost converter, under standard driv- ing cycles . 31 2.4 Converter quality factor Q comparison between the SAZZ approach and the conven- tional approach, under standard driving cycles . 34 2.5 1200 V 100 A 2MBI100VA-120-50 IGBT Module Loss Model . 39 2.6 Coupled Inductor Boost Design Summary . 39 2.7 Converter quality factor Q comparison between the coupled inductor approach and the conventional approach, under standard driving cycles . 40 2.8 600 V 46 A FCH76N60NF Super-Junction MOSFET Loss Model . 43 2.9 Three-level Boost Design Summary . 44 2.10 Converter quality factor Q comparison between the three-level converter and the conventional boost converter, under standard driving cycles . ..