Comparative study between a homogeneous and a heterogeneous approach for modeling an electric powertrain in Simcenter Amesim © Siemens DI 2020 Where today meets tomorrow. Agenda • Simcenter Amesim overview • Electrical vehicle model description • Modelica inverter model • Comparison between homogeneous and heterogeneous approach • Conclusions Unrestricted © Siemens DI 2020 Page 2 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Agenda • Simcenter Amesim overview • Electrical vehicle model description • Modelica inverter model • Comparison between homogeneous and hybrid model • Conclusions Unrestricted © Siemens DI 2020 Page 3 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Simcenter system simulation solutions Industry Pre-design Sector Scalable simulation Automotive & Performance Transportation analysis Connecting “mechanical” – Aerospace & Design Co-simulation Defense Optimization “controls” Heavy Equipment Controls Multi-physics Open and validation customizable Industrial Machinery Marine Mechanical Energy & Utilities >40 libraries Hydraulics/Pneumatics Thermal Electrical >5,000 models Magnetic Model Architecture Chemical Unrestricted © Siemens DI 2020 Page 4 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Open platform Platform facilities: Solvers and numerics: Data management, pack, libraries, supercomponents… Solver technology, Parallel computing, HPC, .. MIL/SIL/HIL and real-time: Analysis tools: Blackbox, RT FMUs, Eigenvalues, Modal shapes, Bode plots, … Precompiled objects for RT targets… Software interfaces: Optimization, robustness, design of experiments: FMI export/import 1.0-2.0 NLPQL, Parameter sweep, Monte Carlo, Genetic dedicated interfaces (Simulink,etc…), Excel import, in-house Algorithms codes… Simulator scripting & APIs: 1D/3D CAE: C/C++, python, VBA, matlab, scilab, console… CAD import, FE import, CFD coupling,… Customization: Modelica platform App designer, customized components… Unrestricted © Siemens DI 2020 Page 5 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Simcenter Amesim & Modelica Modeling & Simulation platform Modelica engine Modelica edition Embedded in Amesim OPTIMICA Compiler Toolkit FMI 2.1 Modelica by file Modelica Editor Simcenter Amesim platform Unrestricted © Siemens DI 2020 Page 6 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Basic workflow Create Compile Connect Simulate Analyze • Full-featured, configurable IDE • Source code editor • Graphical component Compatible with assembly Solved as whole system, Simcenter Amesim • MSL v3.2.2 in Model Exchange. platform capabilities: • Easy library loading Compatible with Simcenter Performance analyzer, Amesim simulation linear analysis capabilities: (eigenvalues, modal Batch/Design Exploration, shapes, frequency Automated compiling HPC, MIL/SIL/HIL… response, root when model added to Connection with native locus…), dashboards, Simcenter Amesim libraries through scripting,… dedicated physical connectors – FMI 2.1 Unrestricted © Siemens DI 2020 Page 7 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Agenda • Simcenter Amesim overview • Electrical vehicle model description • Modelica inverter model • Comparison between homogeneous and hybrid model • Conclusions Unrestricted © Siemens DI 2020 Page 8 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Model definition of a complete electrical vehicle system used for the sizing of the electric powertrain EV Model Based Design Supporting BEV design project to define requirements for instance Focus on the electrical system Electrical motor control system validation Simulation of high frequency effects on the electrical system Unrestricted © Siemens DI 2020 Page 9 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Multi-level modeling EV Electric Range Inverter Battery Gearbox Chassis model motor and Perfo Generic Ratios One Level 1 Static Balanced battery efficiency inertia Advanced model Flywheel 3 DoF Level 2 Quasi-static Average (semi- inertia (2D) empiric) Advanced Detailed model rotary 18 DoF Accuracy Level 3 Dynamic Switched (semi-empiric) stiffness (3D) Requireddata + thermal and inertia CPU consumption Advanced Cooperation model Level 4 with FEM (semi-empiric) + aging Unrestricted © Siemens DI 2020 Page 10 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Simcenter Amesim electrical vehicle model Dynamic vehicle model Battery model 3 phases inverter model Electrical motor model Unrestricted © Siemens DI 2020 Page 11 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Inverter component characterization Unrestricted © Siemens DI 2020 Page 12 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Inverter component characterization 3 switched inverter arms 2 modules composed by a Conduction transistor and an antiparallel Switching losses quasi-static way diode Electro/thermal coupling Unrestricted © Siemens DI 2020 Page 13 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Agenda • Simcenter Amesim overview • Electrical vehicle model description • Modelica inverter model • Comparison between homogeneous and hybrid model • Conclusions Unrestricted © Siemens DI 2020 Page 14 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Inverter Component Modelica based Thermal port Electrical port 3 Arms Signal ports Simcenter Amesim sketch MSL 3.2.2 Modelica Editor Diagram Unrestricted © Siemens DI 2020 Page 15 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Agenda • Simcenter Amesim overview • Electrical vehicle model description • Modelica inverter model • Comparison between homogeneous and hybrid model • Conclusions Unrestricted © Siemens DI 2020 Page 16 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Modeling approaches: Simcenter Amesim / Modelica Bond graph representation Kirchhoff’s laws representation For causal models For acausal models Simcenter Amesim combines this approach Declarative model, without preferred and a representation of the components causality. Enabling the direct manipulation grouped into specialized libraries of a set of algebraic differential equations Unrestricted © Siemens DI 2020 Page 17 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software In practice Simple step by step composition based Specific study and development to have on connection of single systems find in an arm composed by 2 modules the MSL Unrestricted © Siemens DI 2020 Page 18 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Settings Homogeneous model Heterogeneous model Unrestricted © Siemens DI 2020 Page 19 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Inverter results for a 0.2 second simulation Same print interval, same solver Unrestricted © Siemens DI 2020 Page 20 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Global results for a 10 seconds simulation Same print interval, same solver Unrestricted © Siemens DI 2020 Page 21 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software CPU time comparison Performance drop of 20% by using the heterogeneous approach May be linked to the Modelica approach due to a none optimal symbolic processing for this use case Unrestricted © Siemens DI 2020 Page 22 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Agenda • Context • Electrical vehicle in Simcenter Amesim • Modelica inverter • Conclusions Unrestricted © Siemens DI 2020 Page 23 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Conclusions Simcenter Amesim platform can perform hybrid modeling mixing causal and acausal approach The hybrid model of the Electrical Vehicle can be used for validating the electric powertrain sizing During the modelling phase the Modelica approach can be complimentary and facilitate locally the development of sub-models For instance, if we want to create an inverter with more than 2 modules in parallel to increase the current, clearly the Modelica approach should be recommended A slight disadvantage during the simulation for the hybrid model, the simulation performances decreased by 20% for 10 seconds of simulation Unrestricted © Siemens DI 2020 Page 24 14th MODPROD Conference 2020, Linköping, Sweden Siemens DI Software Karim Besbes Siemens DI Software / Simulation & Test Solutions Department [email protected] Where today meets tomorrow. 14th MODPROD Conference 2020, Linköping, Sweden.