Vehicular Electric
`Power Systems
`Land, Sea, Air,
`and Space Vehicles
`
`Ali Emadi
`Illinois Institute of Technology
`Chicago, Illinois, U.S.A.
`
`Mehrdad Ehsani
`Texas A &M University
`College Station, Texas, U.S.A.
`
`John M. Miller
`J -N -J Miller Design Services, P.L.C.
`Cedar, Michigan, U.SA.
`
`MARCEL
`
`DEKKER
`
`MARCEL DEKKER, INC.
`
`NEW YORK
`
`BA5t l_
`
`
`Power Systems
`Land, Sea, Air,
`and Space Vehicles
`
`Ali Emadi
`Illinois Institute of Technology
`Chicago, Illinois, U.S.A.
`
`Mehrdad Ehsani
`Texas A &M University
`College Station, Texas, U.S.A.
`
`John M. Miller
`J -N -J Miller Design Services, P.L.C.
`Cedar, Michigan, U.SA.
`
`MARCEL
`
`DEKKER
`
`MARCEL DEKKER, INC.
`
`NEW YORK
`
`BA5t l_
`
`
`
`Vehicular Electric
`Power Systems
`Land, Sea, Air,
`and Space Vehicles
`
`Ali Emadi
`Illinois Institute of Technology
`Chicago, Illinois, U.SA.
`
`Mehrdad Ehsani
`
`Texas A &M University
`College Station, Texas, U.S.A.
`
`John M. Miller
`J -N -J Miller Design Services, P.L.C.
`Cedar, Michigan, U.S.A.
`
`Ill MARCEL DEKKER, INC.
`
`"RK.
`
`NEW YORK BASEL
`
`UUSI, LLC
`Exhibit 2021
`1/10
`
`
`
`Although great care has been taken to provide accurate and current information, neither the
`author(s) nor the publisher, nor anyone else associated with this publication, shall be liable
`for any loss, damage, or liability directly or indirectly caused or alleged to be caused by this
`book. The material contained herein is not intended to provide specific advice or recom-
`mendations for any specific situation.
`
`Trademark notice: Product or corporate names may be trademarks or registered trademarks
`and are used only for identification and explanation without intent to infringe.
`
`Library of Congress Cataloging -In- Publication Data
`A catalog record for this book is available from the Library of Congress.
`
`ISBN: 042474751 -8
`
`This book is printed on acid -free paper.
`
`Headquarters
`Marcel Dekker, Inc., 270 Madison Avenue, New York, NY 10016, U.S.A.
`tel: 212- 696 -9000; fax: 212-685-4540
`
`Distribution and Customer Service
`Marcel Dekker, Inc, Cimarron Road, Monticello, New York 12701, U.S.A.
`tel: 800- 228 -1160; fax: 845- 796 -1772
`
`Eutern Hemisphere Distribution
`Marcel Dekker AG, Hutgasse 4, Postfach 812, CH -4001 Basel, Switzerland
`tel: 41- 61- 260-6300; fax: 41 -61- 260 -6333
`
`World Wide Web
`http: / /www.dekker.com
`
`The publisher offers discounts on this book when ordered in bulk quantities. For more infor-
`mation, write to Special Sales/Professional Marketing at the headquarters address above.
`
`Copyright © 2004 by Marcel Dekker, Inc. All Rights Reserved.
`
`Neither this book nor any part may be reproduced or transmitted in any form or by any
`means, electronic or mechanical, including photocopying, microfilming, and recording, or
`by any information storage and retrieval system, without permission in writing from the
`publisher.
`
`Current printing (last digit):
`
`10 9 8 7 6 5 4 3
`
`2
`
`1
`
`PRINTED IN THE UNITED STATES OF AMERICA
`
`UUSI, LLC
`Exhibit 2021
`2/10
`
`
`
`Contents
`
`Preface
`
`1
`
`2
`
`3
`
`Introduction to Electrical Power Systems
`Fundamentals of Electric Circuits
`1.1
`Control Systems
`1.2
`Electrical Systems
`1.3
`References
`1.4
`
`Fundamentals of Power Electronics
`AC/DC Rectifiers
`2.1
`
`2.3
`2.4
`
`DC /AC Inverters
`Selected Readings
`
`Electric Machines
`Electro- mechanical Power Transfer Systems
`3.1
`Fundamentals of Electromagnetism
`3.2
`DC Machines
`3.3
`3.4
`Induction Machines
`3.5
`Synchronous Machines
`3.6
`Selected Readings
`
`4 Automotive Power Systems
`4.1
`Conventional 14V Electrical System Architecture
`4.2
`Advanced Electrical Loads
`4.3
`Increasing the System Voltage to 42V
`
`vii
`
`1
`
`8
`I I
`13
`
`15
`16
`25
`39
`47
`
`49
`49
`53
`55
`59
`63
`65
`
`67
`70
`72
`73
`
`xl
`
`UUSI, LLC
`Exhibit 2021
`3/10
`
`
`
`X11
`
`5
`
`4.4
`4.5
`4.6
`4.7
`4.8
`
`4.9
`
`Advanced Distribution Systems
`Starter, Alternator, and Integrated Starter /Alternator
`Automobile Steering Systems
`Semiconductors for Automotive Applications
`Automotive Communication Networks and Wireless
`Techniques
`References
`
`Electric and Hybrid Electric Vehicles
`Principles of Hybrid Electric Drivetrains
`5.1
`Architectures of Hybrid Electric Drivetrains
`5.2
`Electrical Distribution System Architectures
`5.3
`5.4 More Electric Hybrid Vehicles
`Hybrid Control Strategies
`5.5
`Hybridization Effects
`5.6
`42V System for Traction Applications
`5.7
`Heavy Duty Vehicles
`5.8
`Electric Dragsters
`5.9
`5.10 ü4odeling and Simulation of Automotive Power Systems
`5.11 References
`
`6 Aircraft Power Systems
`Conventional Electrical Systems
`6.1
`Power Generation Systems
`6.2
`Aircraft Electrical Distribution Systems
`6.3
`Stability Analysis
`6.4
`References
`6.5
`
`7
`
`8
`
`Space Power Systems
`Introduction
`7.1
`International Space Station
`7.2
`Spacecraft Power Systems
`7.3
`7.4 Modeling and Analysis
`Real -Time State Estimation
`7.5
`Stability Assessment
`7.6
`References
`7.7
`
`Sea and Undersea Vehicles
`Power System Configurations in Sea and Undersea Vehicles
`8.1
`Power Electronics Building Blocks (PEBBs)
`8.2
`Controller Architecture for Power Electronic Circuits
`8.3
`Power Management Center (PMC)
`8.4
`Electrical Distribution System in Sea and Undersea Vehicles
`8.5
`Advanced Electrical Loads in Sea and Undersea Vehicles
`8.6
`
`Contents
`
`77
`78
`120
`132
`
`139
`183
`
`189
`190
`194
`195
`197
`198
`206
`208
`211
`219
`224
`229
`
`231
`231
`234
`235
`237
`238
`
`241
`242
`242
`251
`257
`272
`282
`290
`
`295
`295
`298
`300
`303
`304
`307
`
`UUSI, LLC
`Exhibit 2021
`4/10
`
`
`
`Contents
`
`8.7
`8.8
`
`Advanced Electric Drives in Sea and Undersea Vehicles
`References
`
`9
`
`Fuel Cell Based Vehicles
`Structures, Operations, and Properties of Fuel Cells
`9.1
`Important Properties of Fuel Cells for Vehicles
`9.2
`Light -Duty Vehicles
`9.3
`Heavy -Duty Vehicles
`9.4
`Current Status and Future Trends in Fuel Cell Vehicles
`9.5
`Aerospace Applications
`9.6
`Other Applications of Fuel Cells
`9.7
`Conclusion
`9.8
`References
`9.9
`
`10 Electrical Modeling Techniques for Energy Storage Devices
`10.1 Battery Modeling
`10.2 Modeling of Fuel Cells
`10.3 Modeling of Photovoltaic (PV) Cells
`10.4 Modeling of Ultracapacitors
`10.5 Conclusion
`10.6 References
`
`11 Advanced Motor Drives for Vehicular Applications
`11.1 Brushless DC Motor Drives
`11.2 Switched Reluctance Motor Drives
`11.3 References
`
`12 Multi- Converter Vehicular Dynamics and Control
`12.1 Multi- Converter Vehicular Power Electronic Systems
`12.2 Constant Power Loads and Their Characteristics
`12.3 Concept of Negative Impedance Instability
`12.4 Negative Impedance Instability in the Single PWM DC/DC
`Converters
`12.5 Stability of PWM DC/DC Converters Driving Several Loads
`12.6 Stability Condition in a DC Vehicular Distribution System
`12.7 Negative Impedance Stabilizing Control for PWM DC/DC
`Converters with Constant Power and Resistive Loads
`12.8 Conclusion
`12.9 References
`
`13 Effects of Constant Power Loads in AC Vehicular Systems
`13.1 Vehicular AC Distribution Systems
`13.2 Modeling of AC Constant Power Loads
`13.3 Negative Impedance Instability Conditions
`
`x111
`
`309
`330
`
`335
`335
`348
`353
`356
`360
`362
`364
`380
`381
`
`385
`386
`388
`390
`393
`397
`397
`
`399
`399
`413
`420
`
`425
`426
`428
`430
`
`435
`445
`450
`
`453
`461
`462
`
`465
`465
`468
`476
`
`UUSI, LLC
`Exhibit 2021
`5/10
`
`
`
`xlv
`
`_
`
`Contents
`
`13.4 Hybrid (DC and AC) Vehicular Systems with Constant Power
`Loads
`13.5 Conclusion
`13.6 References
`
`Index
`
`483
`490
`491
`
`493
`
`UUSI, LLC
`Exhibit 2021
`6/10
`
`
`
`Index
`
`A
`
`AC/DC rectifiers, 16 -24
`single- phase, full -wave, controlled
`rectifiers, 22
`single- phase, full -wave,
`uncontrolled rectifiers, 20
`single - phase, half -wave, controlled
`rectifiers, 18
`single -phase, half -wave,
`uncontrolled rectifiers, 16
`Aerospace
`modeling, 257 -272
`power generation, 234
`stability, 237, 282 -289
`state estimation, 272 -282
`Alternator, 78, 84
`Automotive
`communication networks, 138 -183
`distribution system, 70
`semiconductors, 132 -138
`steering systems, 120 -131
`wireless techniques, 138
`
`B
`
`Back -up power supply, 373
`
`Battery, 386
`ideal model, 386
`linear model, 387
`Thevenin model, 387
`Bluetooth, 164 -182
`Brushless DC motor drive
`analysis, 404
`control, 404
`interior -mounted,
`machine structure, 399
`sensorless techniques, 407
`sinusoidal shape back -EMF, 404
`surface- mounted, 399
`trapezoidal shape back -EMF, 401
`
`C
`
`Centralized digital controller, 300
`Cogeneration, 365
`Constant power loads, 428
`Control strategies, 198
`Control systems, 8
`Controller area network, 140145
`CAN error detection, 142
`CAN message arbitration, 141
`CAN message format, 141
`time triggered CAN, 145
`
`493
`
`UUSI, LLC
`Exhibit 2021
`7/10
`
`
`
`494
`
`Cost analysis, 112
`Cyclo- converter, 320
`
`D
`
`DC /AC inverters, 39-47, 266
`current source, 315
`load commutated, 318
`pulse -width modulated inverters,
`43, 319
`square -wave, full- bridge inverters,
`41
`voltage source, 315
`DC/DC converters, 25 -38
`Boost converter, 30, 264
`Buck converter, 26, 261
`Buck -Boost converter, 34, 265
`DC electrical power systems, 13
`DC machines, 55
`compound, 59
`separately excited, 55
`series, 57
`shunt, 56
`slotless armature, 311
`Digital systems, 7
`Distributed digital controller, 301
`Distribution systems
`AC vehicular systems, 465
`advanced automotive systems, 77
`aircraft, 235 -237
`automotive, 70
`hybrid, 483
`hybrid electric vehicles, 195
`sea and undersea vehicles, 304
`zonal, 305 -307
`
`E
`
`Earth orbiting system, 253
`Electric circuits, 1
`RC circuit, 3
`RL circuit, 3
`RLC circuit, 3
`Electric dragsters, 219 -224
`Electric machines, 49 -65
`
`Index
`
`Electric vehicles, 189
`Electrical loads
`advanced aircraft loads, 232
`advanced automotive loads, 72
`aircraft, 232
`automotive, 72
`sea and undersea, 307
`Electrical power systems, 1, 11 -13
`14V electrical system, 70
`42V electrical system, 73
`42V electrical system for traction,
`208 -211
`AC zonal electrical systems, 305
`aircraft, 231 -238
`automotive, 67
`DC zonal electrical systems, 306
`integrated, 296
`sea and undersea vehicles, 295 -309
`segregated, 295
`space, 241 -251
`spacecraft, 251 -257
`Electromagnetism, 53
`Electromechanical systems, 49
`
`F
`
`Feedback control, 9
`First harmonic approximation, 485
`Flywheel, 249
`Fourier series, 7
`Frequency domain analysis, 10
`Fuel cell, 335
`aerospace applications, 362
`alkaline, 343 -345
`direct methanol, 342
`distributed generation, 365
`electrical characteristics, 352
`heavy -duty vehicles, 356
`light -duty vehicles, 353
`modeling, 388
`molten carbonate, 340 -341
`operation, 335
`phosphoric acid, 337 -338
`portable applications, 369
`power processing system, 346
`
`UUSI, LLC
`Exhibit 2021
`8/10
`
`
`
`Index
`
`properties, 335
`proton exchange membrane, 338-
`340
`solid- oxide, 341 -342
`structures, 335
`telecommunication applications,
`376
`utility applications, 364 -369
`zinc air, 345
`
`G
`
`Gauss- Seidel load flow, 12
`Generalized state space averaging,
`259
`
`H
`
`Heavy -duty vehicles
`conventional, 212
`fuel cell, 216, 356
`hybrid electric, 214
`Honda Insight, 204
`Hybrid control strategies
`charge depleting, 201 -202
`charge sustaining, 200, 202
`parallel, 200 -202
`practical models, 204 -206
`series, 202 -204
`Hybrid electric vehicles, 189
`drivetrain architectures, 194
`drivetrain principles, 190 -194
`electrical distribution systems, 195
`more electric hybrid vehicles, 197
`Hybridization, 206 -208
`
`I
`
`IEEE 1394 protocol, 153 -156
`Induction machines, 59, 91, 99
`Integrated power modules, 136
`Integrated starter /alternator, 87 -90
`coupling configurations, 115 -119
`direct coupling, 117
`offset coupling, 115
`International space station, 242
`
`495
`
`Kirchhofes law, 1
`
`K
`
`L
`
`Laplace transform, 4
`Lightly hybridized vehicles, 209 -211
`Local interconnect network, 161
`
`M
`
`Matrix converter, 321 -325
`Media oriented systems transport,
`156
`Modeling
`AC constant power loads, 468
`aerospace power systems, 257 -272
`automotive power systems, 224-
`229
`energy storage devices, 385 -397
`multi- converter, 275
`Motor drives
`adjustable speed, 314
`current source, 315
`cyclo- converters, 320
`DC, 331
`drives in sea and undersea vehicles,
`309
`multi- level, 325
`variable frequency, 315
`voltage source, 315
`Multi- converter systems, 260, 269
`Multi-level inverter, 325 -331
`cascaded single -phase H- bridge,
`327
`diode clamped, 325
`flying capacitor, 326
`hybrid H- bridge, 328
`modulation technique, 330
`
`N
`
`Negative impedance instability, 430,
`435, 453, 476
`
`[
`
`UUSI, LLC
`Exhibit 2021
`9/10
`
`
`
`496
`
`Index
`
`Ohm's law, 1
`
`P
`
`Permanent magnet machines, 91 -95,
`100, 312
`interior -mounted, 400
`surface -mounted, 399
`Per -unit quantity, 11
`Phasors, 6
`Photovoltaic (PV) cells, 390
`Power electronics, 15 -47, 132, 367
`power electronics building blocks,
`298 -300
`Power management center, 303
`Power network models, 11
`Power steering, 123 -126
`electric power steering, 126 -127
`
`R
`
`Routh -Hurwitz criterion, 10
`Russian ISS segment, 248
`
`s
`
`SAE J1850, 150 -153
`Satellite, 254
`Sea vehicles, 295
`Semiconductor device technology,
`134 -136
`Sensorless operation, 407
`Signal -flow graphs, 8
`Sinusoidal excitation, 6
`Sliding -mode control, 440
`Spacecraft, 251
`Stability analysis, 10, 237, 282 -289,
`444,456
`Stabilizing controller, 440
`Starter, 78, 81
`State estimation, 272 -282
`State space averaging, 259, 440, 484
`State space description, 11
`Steer -by -wire, 127 -132
`
`Storage systems
`battery, 386
`energy storage devices, 385 -397
`low- voltage, 211
`ultracapacitor, 393
`Super conducting, 312
`Switched reluctance machines, 95 -99,
`107, 413
`basic operation, 413
`control techniques, 417
`power electronic driver, 419
`torque -speed characteristics, 417
`Synchronous machines, 63
`
`T
`
`TERRA spacecraft, 253
`Time domain analysis, 10
`Torque -speed characteristics, 61, 64
`Toyota Prius, 204
`
`U
`
`Ultracapacitors, 393 -397
`battery/ultracapacitor, 394
`double layer model, 393
`Undersea vehicles, 295
`US ISS segment, 248
`
`V
`
`Vehicles
`air, 231
`dynamics and control, 425 -462
`fuel cell, 353 -356
`land, 67, 189
`sea, 295
`space, 241
`undersea, 295
`
`R'
`Weighted least squares, 279
`
`X
`
`X-by-wire, 159
`
`UUSI, LLC
`Exhibit 2021
`10/10
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