@inproceedings{4052,
  abstract     = {{In modern vehicles, electrical drives and power electronics are used to control a large variety of different applications. To operate these components electronic control units have to be designed and tested. To validate the software of the electronic control units hardware-in-the-loop simulation is a todaypsilas standard method. Hardware-in-the-loop simulation always comprises a real-time simulation of the plant, including actuator and sensor models. In case of an electronic circuit the plant consists of passive components like capacitors and inductors, usually assumed to be linear, and semi-conductors with nonlinear and discontinuous behavior. The following paper suggests classification criteria and compares different methods for real-time simulations of electronic circuits considering switching events. For evaluation theoretical considerations as well as simulation results are presented concerning differences in approaches.}},
  author       = {{Maas, Jürgen and Schulte, Thomas and Graf, C. and Weise-Emden, J.}},
  pages        = {{2829 -- 2834}},
  publisher    = {{IEEE}},
  title        = {{{Real-time HIL-simulation of power electronics}}},
  year         = {{2008}},
}

@inbook{4053,
  abstract     = {{Die Verwendung von E-Motoren für komplexe und sicherheitskritische Funktionen in Fahrzeugen erfordert umfangreiche Tests bei der Systementwicklung. Dabei hat sich die HIL-Simulation (Hardware-in-the-Loop-Simulation) zum Testen der Softwarefunktionen als Standardwerkzeug etabliert. Bei Systemen mit Elektromotoren müssen besondere Anforderungen an die Simulationsumgebung gestellt werden. Diese ergeben sich aus der hohen Dynamik der elektrischen Größen, der relativ hohen elektrischen Leistungen, dem oft hohen Integrationsgrad der Steuergeräte-Hardware und der Einbindung der elektrlschen Antriebe in ubergeordnete Fahrzeugfunktionen. In diesem Beitrag wird ein System zur E-Motorsimulation auf elektrischer Leistungsebene vorgestellt. Dazu werden neben einer FPGA-basierten E-Motorsimulation hoch-dynamische elektronische Lasten verwendet.}},
  author       = {{Schulte, Thomas and Bracker, Jörg}},
  booktitle    = {{Steuerung und Regelung von Fahrzeugen und Mortoren : VDI-Berichte 2009}},
  isbn         = {{978-3-18-092009-2}},
  pages        = {{115 -- 124}},
  title        = {{{Echtzeitfähige Elektromotorsimulation mit realen Strömen und Spannungen für Hardware-in-the-Loop-Anwendungen}}},
  year         = {{2008}},
}

@inproceedings{4055,
  abstract     = {{Electric drives are growing in importance in automotive applications, especially in hybrid electric vehicles (HEV) and in the vehicle dynamics area (steering systems, etc.). The challenges of real-time hardware-in-the-loop (HIL) simulation and testing of electric drives are addressed in this paper. In general, three different interface levels between the electric drive and the hardware-inthe-loop system can be distinguished: the signal level (1), the electrical level (2) and the mechanical level (3). These interface levels, as well as modeling and I/O-related aspects of electric drives and power electronics devices, are discussed in detail in the paper. Finally, different solutions based on dSPACE simulator technology are presented, for both hybrid vehicle and steering applications.}},
  author       = {{Schulte, Thomas and Wagener, Andreas and Wältermann, Peter and Schütte, Herbert}},
  title        = {{{Hardware-in-the-Loop Test Systems for Electric Motors in Advanced Powertrain Applications}}},
  year         = {{2007}},
}

@inbook{4056,
  abstract     = {{Hybridantriebe erweitern die bestehen Antirebstechnologien um eistungsfähige elektrische Maschinen und Speichervorrichtungen in verschiedenen Konfigurationen. Diese zusätzitchen Komponenten erhöhen Freiheitsgrade des gesamten Systems führen zu einer komplexen Verteilung auf mehrere Steuergeräte. Um dieser angestiegenen Komplexitat Rechnung zu tragen, muss die Entwicklungsumgebung sprechend angepasst werden. Hardware-in-the-Loop(HIL)Simulation ist im Entwicklungsprozess für einzelne Steuergeräte wle auch für den Test von Verbundsystemen eine etablierte Testmethode. Allerdings unterscheiden sich die Anforderungen an HIL Simulatoren für den Test von Steuergeräten für elektrische Antriebe deutlich von denen für z. B. Verbrennungsmotoren. Die Regelung eines elektrischen Antriebs erfordert eine signifikant höhere Echtzeitdynamlk, da diese mit 5 bis 20 kHz berechnet werden. Für die Echtzeitsimulation der elektrischen Mahschine ist somit eine optimierte I/O Schnittstelle entscheidend, die auf die spezifische Signale der Anwendung und das eingesetzte Echtzeit-Modell optimiert ist. Die Testumgebung muss für einen Verbund Steuergeräten ausgelegt werden, wobei diese entweder direkt angeschlossen oder simuliert werden.}},
  author       = {{Schulte, Thomas and Klahold, Jürgen and Wagener, Andreas}},
  booktitle    = {{Neue elektrische Antriebskonzepte für Hybridfahrzeuge}},
  isbn         = {{978-3-8169-2677-1}},
  pages        = {{388 -- 399}},
  title        = {{{Test elektrischer Antriebe für Hybridfahrzeuge mittels Hardware-in-the-Loop Simulation}}},
  year         = {{2007}},
}

@inproceedings{4058,
  abstract     = {{Modern vehicles use Electronic Control Units (ECU), connected via Controller Area Network (CAN) to perform functions. Many of these functions are distributed across several ECUs. This network interconnection enables the sharing of sensors, calculated information and actuators. As new functionality is added, the number of ECUs and their complexity increase.}},
  author       = {{Schulte, Thomas and Adenmark, Mikael and Deter, Matthias}},
  booktitle    = {{SAE 2006 Commercial Vehicle Engineering Congress & Exhibition, October 2006, Rosemont, IL, USA, Session: Systems Engineering Part 1 of 2}},
  title        = {{{Testing Networked ECUs in a HIL Based Integration Lab}}},
  year         = {{2006}},
}

@inbook{4059,
  abstract     = {{Modern vehicles use Electronic Control Units (ECU), connected via Controller Area Network (CAN) to perform functions. Many of these functions are distributed across several ECUs. This network interconnection enables the sharing of sensors, calculated information and actuators. As new functionality is added, the number of ECUs and their complexity increase. This paper describes the values and possibilities of a Hardware-ln-the-Loop (HIL) based Integration Lab, which enables a wide range of automatic tests to be performed on networked ECUs. The Integration Lab is the complex rebuild of a Scania truck/bus, containing the ECU superset, for connecting and testing networked ECUs. It involves more than 30 ECUs and eleven CAN networks. For a complete system, where the variant fauna is as extensive as the Scania vehicle, and continuously growing in size, the need for testing increases, especially regarding testing different variants and regression testing. Manual testing is then no longer an option, since the need for testing, concerning both quality and quantity, increases above the limit of where manual testing is applicable. A manual test lab is often a good way to start testing ECUs on an early stage of the development and is relatively easily and fast built. But in the long run the need for an automated lab becomes obvious. In the beginning the output of an automated lab is less than that of a manual lab. When the output level reaches that of a manual lab it continues to climb past this level since test scripts written earlier will continue to be run each test round. The Integration Lab demonstrates that dSPACE Simulator technology is capable of handling huge vehicle networks far in excess of that of passenger cars.}},
  author       = {{Schulte, Thomas and Adenmark, Mikael and Deter, Matthias}},
  booktitle    = {{SAE-SP}},
  isbn         = {{978-0-7680-1827-1}},
  pages        = {{23 -- 31}},
  title        = {{{Testing networked ECUs in a HIL based Integration Lab.}}},
  volume       = {{2060}},
  year         = {{2006}},
}

@inproceedings{4061,
  abstract     = {{Varios desings of piezoelectric transformers are know, but due to the limitation of a finite miechanical structure only standing wave excitation in used up to now. This paper outlines a novel concept based on a travelling wave instead of standing wave exicitation, which allows a theoretical increase of power density by a factor √2. Theo theoretical basics as well as prototype of a travelling wave type piezoelectric transformer are presented.}},
  author       = {{Schulte, Thomas and Kauczor, Christopher and Grotstollen, Horst}},
  booktitle    = {{ACTUATOR 2004}},
  location     = {{Bremen}},
  pages        = {{395 -- 398}},
  title        = {{{Piezoelectric Transformer of Travelling Wave Type.}}},
  year         = {{2004}},
}

@book{4063,
  abstract     = {{Der Ultraschall-Wanderwellenmotor ist ein typischer Vertreter der Piezomotoren. Wanderwellenmotoren erzeugen relativ hohe Drehmomente bei niedrigen Drehzahlen, weshalb sie vor allem als getriebelose Direktantriebe interessant sind. Es existieren jedoch eine Reihe von prinzipbedingten Nachteilen, zu denen neben technologischen Aspekten insbesondere das nichtlineare und zeitvariante Systemverhalten und die relativ aufwendige Speisung mit Wechselspannung im Ultraschallbereich zählen. In dieser Arbeit werden Stromrichter und Antriebsregelungen für Wanderwellenmotoren entwickelt bzw. weiterentwickelt und bezüglich Leistungsfähigkeit und Aufwand gegenübergestellt. Die Untersuchungen erfolgten unter besonderer Berücksichtigung der konzeptionellen Wechselwirkung zwischen Stromrichter und Regelung sowie anwendungsseitigen Anforderungen. Bei den Stromrichtern wird in erster Linie das übertragungsverhalten betrachtet, welches maßgeblich durch die Auslegung der Ausgangsfilter beeinflußt wird. Für die Leistungsfähigkeit der Antriebsregelung ist die Struktur der Regelkreise einschließlich der Meß- und Regelgrößenauswahl von entscheidender Bedeutung. Die wesentlichen Eigenschaften unterschiedlicher Konzepte werden vorgestellt und bewertet. Die Arbeit bietet einen überblick über geeignete Stromrichter- und Regelungskonzepte für Wanderwellenmotoren und kann potentiellen Anwendern als Grundlage für die Realisierung von Antrieben mit Wanderwellenmotor dienen. Aufgrund ähnlicher Wirkungsprinzipien lassen sich häufig an diesen Motoren gefundene Ergebnisse auch auf andere Typen von Piezomotoren sowie resonant-betriebene Piezoaktoren übertragen.}},
  author       = {{Schulte, Thomas}},
  isbn         = {{3-18-336321-6}},
  pages        = {{186}},
  publisher    = {{Beck}},
  title        = {{{Stromrichter- und Regelungskonzepte für Ultraschall- Wanderwellenmotoren}}},
  volume       = {{363}},
  year         = {{2004}},
}

@misc{4231,
  author       = {{Borcherding, Holger}},
  title        = {{{Verfahren zur Temperaturüberwachung eines Elektromotors}}},
  year         = {{2003}},
}

@inproceedings{4064,
  abstract     = {{For feeding piezoelectric ultrasonic motors different kinds of resonant converter concepts are well proven, but a common problem are their bulky and expensive resonant inductors. Therefore, power converters which do not require heavy inductors are of great interest. In this contrbution power converters with non-resonant output filters are investigated fpr reducing weight and volume ofe the magnetic components. The design of such a power converter for a travelling wave type ultrasonic type motor is presented. Implementation highlights like the design of the filters and the concept of an universal digital modulator are outlined and measured results are presented. Finally the concept is compared to resonant converters under consideration of weight, volume and efficiency.}},
  author       = {{Schulte, Thomas and Fröhleke, Norbert}},
  booktitle    = {{ACTUATOR 2002}},
  location     = {{Bremen}},
  pages        = {{442 -- 445}},
  title        = {{{PWM-Converter for Travelling Wave Type Ultrasonic Motors.}}},
  year         = {{2002}},
}

@inproceedings{4066,
  abstract     = {{Ultrasonic piezoelectric converters (UPC) require adequate power supplies providing high frequency output voltage of several hundred volts and a total output power up to several kilowatts. Several concepts are conceivable but the potential of optimisation adopting a certain concept depends on the electrical terminal behaviour of the UPC. In this contribution the operating behaviour ofUPC is discussed with respect to their transfer function, the necessary excitation and their terminal behaviour. The latter definies the demands for the power supply, while considering different parameter combinations for bandwidth, quality and piezoelectric capacitance. The main part of this contribution is concerned with the development and realisation of a laboratory power supply for UPC, which is of resonant type.}},
  author       = {{Schulte, Thomas and Fröhleke, Norbert and Kauczor, Christopher}},
  booktitle    = {{ACTUATOR 2002}},
  location     = {{Bremen}},
  pages        = {{485 -- 488}},
  title        = {{{Resonant Power Converter for Ultrasonic Piezoelectric Converter.}}},
  year         = {{2002}},
}

@misc{4237,
  author       = {{Borcherding, Holger}},
  title        = {{{Kühlkörper für einen Frequenzumrichter}}},
  year         = {{2002}},
}

@inproceedings{4070,
  abstract     = {{Speed control strategies for piezoelectric drives have been presented by several authors. Beside various control strategies based on adaptive structures like MIAS, MRAS, neural nets or fuzzy control, a completely model based control system using an inner bending wave control and an outer speed control including a torque calculator for linearization has been presented. The paper deals with investigations and improvements of this torque calculator. The setpoint adjustment is focused to utilize the degrees of freedom for the bending wave values, which represents an additional potential for optimization of the performance of the drive system. Theoretical and experimental results confirm the advances.}},
  author       = {{Schulte, Thomas and Fröhleke, Norbert}},
  booktitle    = {{Proceedings of International Conference on Advanced Intelligent Mechatronics}},
  pages        = {{504 -- 509}},
  publisher    = {{IEEE}},
  title        = {{{Improved setpoint adjustment for ultrasonic motors}}},
  year         = {{2001}},
}

@inproceedings{4071,
  abstract     = {{Several types of piezoelectric motors are known to deliver few watts of mechanical output power.This paper deals with the design and development of a LLCC-resonant converter for a novel type ofhigh power piezoelectric motor of up to 4kW mechanical power being used in avionics. The devel-opment of a laboratory power supply became necessary, since suitable power supplies for testingthe novel piezoelectric motor during its breadboard stage are not available on the market. The gen-eral function of the LLCC-resonant converter which also provides a DC-offset voltage for avoidingdepolarisation problems is described, implementation highlights are outlined and the weight distri-bution is discussed with respect to future development of power converters for avionics.}},
  author       = {{Schulte, Thomas and Fröhleke, Norbert and Njiende, H. D.}},
  booktitle    = {{MAGELEC 2001}},
  location     = {{Toulouse, France}},
  title        = {{{Development of Power Converter for High Power Piezoelectric Motors.}}},
  year         = {{2001}},
}

@inproceedings{4073,
  abstract     = {{Several types of piezoelectric motors are known to deliver few watts of mechanical output power.This paper deals with the design and development of a LLCC-resonant converter for a novel type ofhigh power piezoelectric motor of up to 4kW mechanical power being used in avionics. The devel-opment of a laboratory power supply became necessary, since suitable power supplies for testingthe novel piezoelectric motor during its breadboard stage are not available on the market. The gen-eral function of the LLCC-resonant converter which also provides a DC-offset voltage for avoidingdepolarisation problems is described, implementation highlights are outlined and the weight distri-bution is discussed with respect to future development of power converters for avionics.}},
  author       = {{Schulte, Thomas and Fröhleke, Norbert}},
  location     = {{Perth, Australia}},
  pages        = {{507 -- 512}},
  title        = {{{Development of Power Converter for High Power Piezoelectric Motors.}}},
  year         = {{2001}},
}

@inproceedings{4075,
  abstract     = {{Speed control strategies for piezoelectric driveshave been presented by several authors. Beside various con-trol strategies based on adaptive structures like MIAS,MRAS, neural nets or Fuzzy control, a completely modelbased control system using an inner bending wave controland an outer speed control including a torque calculator for linearization has been presented. This paper deals with investigations and improvements of this torque calculator. The setpoint adjustment is focused toutilize the degrees of freedom for the bending wave values, which represents an additional potential for optimization of the performance of the drive system. Theoretical and experi-mental results confirm the advances.}},
  author       = {{Schulte, Thomas and Fröhleke, Norbert}},
  location     = {{Como, Italy}},
  pages        = {{504 -- 509}},
  publisher    = {{IEEE}},
  title        = {{{Improved Setpoint Adjustment for Ultrasonic Motors.}}},
  year         = {{2001}},
}

@inproceedings{4077,
  abstract     = {{A complete model-based control for traveling-wave-type ultrasonic motors is presented. The control scheme consists of inner control loops with respect to the oscillation systems, offering all meaningful degrees of freedom for adjusting the traveling bending wave, and outer control loops for torque and speed. After a brief review on modeling the actuator and presentation of a parameter identification method, the control scheme is developed and verified by measurements on a prototype drive system, several measures for the compensation of nonlinearities and temperature effects are developed, and achieved improvements are discussed with respect to the special properties of this novel actuator. Finally, the developed drive is applied to an "active control stick"}},
  author       = {{Maas, Jürgen and Schulte, Thomas and Fröhleke, Norbert}},
  booktitle    = {{IEEE/ASME Transactions on Mechatronics}},
  pages        = {{165 -- 180}},
  publisher    = {{IEEE}},
  title        = {{{Model-based control for ultrasonic motors}}},
  year         = {{2000}},
}

@inproceedings{4078,
  author       = {{Schulte, Thomas and Grotstollen, Horst and Fröhleke, Norbert}},
  booktitle    = {{Conference Proceedings - ACTUATOR 2000}},
  location     = {{Bremen}},
  pages        = {{367 -- 370}},
  title        = {{{Control for Ultrasonic Motors with LLCC-Resonant Converter.}}},
  year         = {{2000}},
}

@inproceedings{4080,
  abstract     = {{A novel speed control for traveling wave type ultrasonic motors is presented and verified by measurements on a prototype drive, Based on an underlying bending wave control the nonlinear torque generation of the USM is compensated by an inverse contact model calculating the reference values of bending wave control under consideration of an optimized set point adjustment. For this task a basis function neural network is applied. By compensation of the nonlinearity the command behavior of the USM approaches that of conventional drives and proven speed control schemes can be implemented as further control loop, The novel speed control investigated offers excellent dynamic responses and is thus attractive for applications in the field of high performance servo systems.}},
  author       = {{Maas, Jürgen and Schulte, Thomas}},
  pages        = {{91 -- 96}},
  publisher    = {{IEEE}},
  title        = {{{High performance speed control for ultrasonic motors}}},
  year         = {{1999}},
}

@inproceedings{4081,
  abstract     = {{This  paper  gives  a  review  of  research  activities  at  the  Institute  for  Power  Electronics  and  ElectricalDrives in Paderborn to the control of rotary travelling wave type ultrasonic motors. Based on a special designedhardware environment an advanced control scheme for inverter-fed travelling wave type ultrasonic motors is pre-sented. After several modelling steps, including an averaged model for the controller design, a speed control schemeis implemented on a prototype drive. It is realized as an outer control loop of an underlaid voltage and travellingbending wave vector controller. The novel speed control is using an inverse contact model by a neural network, inorder  to  compensate  the  nonlinear  torque  generation  of  the  motor.  The  so  equipped  ultrasonic  motor-drive  meetsrequirements  for  applications  in  the  field  of  servo-drives  e.g.  robotics.  Since  the  reference  values  of  the  bendingwave control are calculated from the desired torque value by the neural network, open loop control of the drive´s torque is feasible, too. }},
  author       = {{Maas, Jürgen and Schulte, Thomas and Grotstollen, H. and Fröhleke, Norbert}},
  location     = {{Paderborn}},
  pages        = {{129 -- 143}},
  title        = {{{Model-Based Control of Travelling Wave Type Ultrasonic Motors.}}},
  year         = {{1999}},
}

@inproceedings{4083,
  abstract     = {{An Active Control Stick (ACS) realized by a travelling wave type ultrasonic motor(USM) is presented. In contrast to the conventional side stick in modern aircrafts, which is onlyoperated by a passive mechanic feedback, forces can be reproduced artificially by an active con-trol  stick.  Ultrasonic  motors  are  more  compact  as  conventional  electrical  geared  motors  andcombine features such as high driving torque at low rotational speed and low noise in operationand  low  electromagnetic  emission.  In  this  paper  a  control  schemes  for  an  active  control  stickusing  a  rotary  travelling  wave  type  USM  is  presented  which  is  already  implemented  and  suc-cessfully tested for an one axis prototype version of an ACS within a cooperative project of theDepartment  Research  and  Technology  of  the  DaimlerChrysler  AG  in  Frankfurt,  SFIM  Indus-tries and the Institute of Power Electronics and Electrical Drive of the University of Paderborn.}},
  author       = {{Schulte, Thomas and Grotstollen, H. and Schöner, H.-P. and Audren, J.-T.}},
  booktitle    = {{Proc. of 3rd Int. Symposium on advanced Electromechanical Motion Systems (EM'99) ; 1}},
  location     = {{Patras, Greece}},
  pages        = {{583 -- 588}},
  title        = {{{Active Control Stick Driven by a Piezo Electric Motor}}},
  volume       = {{1}},
  year         = {{1999}},
}

@book{4210,
  author       = {{Borcherding, Holger}},
  isbn         = {{3-89720-376-6}},
  pages        = {{117}},
  publisher    = {{Papierflieger Verl.}},
  title        = {{{Eigenschaften von Netzpulsstromrichtern mit eingeprägter Gleichspannung}}},
  year         = {{1999}},
}

@inproceedings{4085,
  abstract     = {{This paper deals with an advanced speed control scheme for inverter-fed travelling waveultrasonic motors. It is implemented as an additional outer control loop of an underlaid voltage andtravelling  bending  wave  vector  controller  and  verified  by  measurements  on  a  prototype  drive.  Thenovel speed control is using an inverse contact model by a neural network, trained by measured valuesof speed and torque, in order to compensate the nonlinear torque generation of the motor. Since thereference values of the bending wave control are calculated from the desired torque value by the neu-ral network, first an open loop control of the drive ́s torque is feasible and second common speed con-trol  schemes,  well  performing  in  common  electrical  drives,  can  be  applied.  Thus,  the  so  equippedultrasonic motor-drive meets requirements for applications in the field of servo-drives e.g. robotics. }},
  author       = {{Maas, Jürgen and Schulte, Thomas and Grotstollen, H.}},
  location     = {{Harrogate (UK)}},
  pages        = {{701 -- 708}},
  title        = {{{Controlled Ultrasonic Motor for Servo-Drive Applications}}},
  year         = {{1998}},
}

@inproceedings{4087,
  author       = {{Schulte, Thomas and Maas, Jürgen and Grotstollen, Horst}},
  booktitle    = {{ACTUATOR 98}},
  location     = {{Bremen}},
  pages        = {{262-- 265}},
  title        = {{{High Performance Speed Control for Inverter-Fed Ultrasonic Motors Optimized by a Neural Network}}},
  year         = {{1998}},
}

@inproceedings{3999,
  abstract     = {{An optimized control scheme for the most advanced traveling wave type ultrasonic motor powered by a resonant power converter is presented and verified by measurements on a prototype drive. Basing on an averaged drive model, which reflects the slow dynamic behavior of the drive's ultrasonic oscillations by time varying fundamental Fourier coefficients, a cascaded two-phase vector control scheme is designed. The novel drive control divides into an inner voltage and outer bending wave control compensating couplings and suppressing the beat characteristics. Since an amplitude modulation is applied instead of frequency modulation, the well known pull out phenomenon is eliminated in general. By means of an online frequency adaptation to the stator's resonance, the drive's performance is optimized remarkably.}},
  author       = {{Maas, Jürgen and Schulte, Thomas and Grotstollen, H.}},
  booktitle    = {{IAS '97. Conference Record of the 1997 IEEE Industry Applications Conference Thirty-Second IAS Annual Meeting}},
  isbn         = {{0-7803-4067-1}},
  location     = {{New Orleans, LA, USA}},
  pages        = {{690 -- 698}},
  publisher    = {{IEEE}},
  title        = {{{Optimized drive control for inverter-fed ultrasonic motors}}},
  volume       = {{1}},
  year         = {{1997}},
}