[{"status":"public","conference":{"name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","location":"Toronto, ON, Canada ","end_date":"2021-10-16","start_date":"2021-10-13"},"publication":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","doi":"10.1109/IECON48115.2021.9589726","page":"pp. 1-6","keyword":["Vehicle dynamics","Control moment gyroscope","Control system analysis","Roll stabilization","Monorail vehicles"],"_id":"8380","user_id":"56955","publisher":"IEEE","citation":{"havard":"M. Griese, F. Kottmeier, T. Schulte, Vertical control of a self-stabilizing monorail vehicle, IEEE, 2021.","chicago-de":"Griese, Martin, Fabian Kottmeier und Thomas Schulte. 2021. <i>Vertical control of a self-stabilizing monorail vehicle</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>. IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE. doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589726,\">10.1109/IECON48115.2021.9589726,</a> .","din1505-2-1":"<span style=\"font-variant:small-caps;\">Griese, Martin</span> ; <span style=\"font-variant:small-caps;\">Kottmeier, Fabian</span> ; <span style=\"font-variant:small-caps;\">Schulte, Thomas</span>: <i>Vertical control of a self-stabilizing monorail vehicle</i>, <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i> : IEEE, 2021","apa":"Griese, M., Kottmeier, F., &#38; Schulte, T. (2021). <i>Vertical control of a self-stabilizing monorail vehicle</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i> (pp. 1–6). Toronto, ON, Canada : IEEE. <a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">https://doi.org/10.1109/IECON48115.2021.9589726</a>","ieee":"M. Griese, F. Kottmeier, and T. Schulte, <i>Vertical control of a self-stabilizing monorail vehicle</i>. IEEE, 2021, pp. 1–6.","ufg":"<b>Griese, Martin et. al. (2021)</b>: Vertical control of a self-stabilizing monorail vehicle (=<i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>).","short":"M. Griese, F. Kottmeier, T. Schulte, Vertical Control of a Self-Stabilizing Monorail Vehicle, IEEE, 2021.","chicago":"Griese, Martin, Fabian Kottmeier, and Thomas Schulte. <i>Vertical Control of a Self-Stabilizing Monorail Vehicle</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>. IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE, 2021. <a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">https://doi.org/10.1109/IECON48115.2021.9589726</a>.","van":"Griese M, Kottmeier F, Schulte T. Vertical control of a self-stabilizing monorail vehicle. IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE; 2021. (IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society).","ama":"Griese M, Kottmeier F, Schulte T. <i>Vertical Control of a Self-Stabilizing Monorail Vehicle</i>. IEEE; 2021:1-6. doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">10.1109/IECON48115.2021.9589726</a>","mla":"Griese, Martin, et al. “Vertical Control of a Self-Stabilizing Monorail Vehicle.” <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>, IEEE, 2021, pp. 1–6, doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589726\">10.1109/IECON48115.2021.9589726</a>.","bjps":"<b>Griese M, Kottmeier F and Schulte T</b> (2021) <i>Vertical Control of a Self-Stabilizing Monorail Vehicle</i>. IEEE."},"language":[{"iso":"eng"}],"department":[{"_id":"DEP6020"},{"_id":"DEP5022"}],"year":2021,"abstract":[{"text":"Currently, numerous single-track railway lines are disused due to economic reasons. However, they could be reactivated for a bidirectional on-demand service traffic by small vehicles that use only one rail. MonoCabs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a moveable mass. They could make an important contribution to improve the mobility offer especially in rural areas. This paper is focused on the vertical stabilization system of the MonoCab. This system is discussed based on a physical three body model which describes the rolling motion of the vehicle, the lateral motion of the mass and the precession motion of the gyroscope. The model is utilized for a cascaded control concept adjusting the vehicle’s roll angle and gyroscope’s gimbal angle. The proposed stabilization concept is capable of compensating both high dynamic disturbances and stationary disturbances (e. g. unbalanced loads and steady wind flows). The concept is analyzed by simulations and experimental investigations utilizing a small scaled test rig and a rapid control prototyping system. Beside transient command responses also the frequency response of the system is experimentally evaluated and used for a validation of the model and theoretical findings.","lang":"eng"}],"author":[{"id":"52308","full_name":"Griese, Martin","last_name":"Griese","first_name":"Martin"},{"last_name":"Kottmeier","id":"55385","full_name":"Kottmeier, Fabian","first_name":"Fabian"},{"id":"46242","full_name":"Schulte, Thomas","last_name":"Schulte","first_name":"Thomas"}],"title":"Vertical control of a self-stabilizing monorail vehicle","type":"conference_editor_article","date_created":"2022-06-22T08:45:19Z","publication_identifier":{"issn":["2577-1647 "],"isbn":["978-1-6654-3554-3"]},"date_updated":"2023-03-15T13:50:15Z","publication_status":"published","series_title":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society"},{"publication":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","doi":"10.1109/IECON48115.2021.9589449","publisher":"IEEE","language":[{"iso":"eng"}],"citation":{"chicago-de":"Epp, Michael, Martin Griese und Thomas Schulte. 2021. <i>Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>. IEEE. doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589449,\">10.1109/IECON48115.2021.9589449,</a> .","havard":"M. Epp, M. Griese, T. Schulte, Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads, IEEE, 2021.","apa":"Epp, M., Griese, M., &#38; Schulte, T. (2021). <i>Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i> (pp. 1–6). Toronto, ON, Canada : IEEE. <a href=\"https://doi.org/10.1109/IECON48115.2021.9589449\">https://doi.org/10.1109/IECON48115.2021.9589449</a>","ieee":"M. Epp, M. Griese, and T. Schulte, <i>Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads</i>. IEEE, 2021, pp. 1–6.","chicago":"Epp, Michael, Martin Griese, and Thomas Schulte. <i>Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads</i>. <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>. IEEE, 2021. <a href=\"https://doi.org/10.1109/IECON48115.2021.9589449\">https://doi.org/10.1109/IECON48115.2021.9589449</a>.","mla":"Epp, Michael, et al. “Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads.” <i>IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society</i>, IEEE, 2021, pp. 1–6, doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589449\">10.1109/IECON48115.2021.9589449</a>.","din1505-2-1":"<span style=\"font-variant:small-caps;\">Epp, Michael</span> ; <span style=\"font-variant:small-caps;\">Griese, Martin</span> ; <span style=\"font-variant:small-caps;\">Schulte, Thomas</span>: <i>Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads</i> : IEEE, 2021","ufg":"<b>Epp, Michael et. al. (2021)</b>: Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads.","short":"M. Epp, M. Griese, T. Schulte, Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads, IEEE, 2021.","ama":"Epp M, Griese M, Schulte T. <i>Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads</i>. IEEE; 2021:1-6. doi:<a href=\"https://doi.org/10.1109/IECON48115.2021.9589449\">10.1109/IECON48115.2021.9589449</a>","van":"Epp M, Griese M, Schulte T. Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads. IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. IEEE; 2021.","bjps":"<b>Epp M, Griese M and Schulte T</b> (2021) <i>Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads</i>. IEEE."},"page":"1-6","_id":"8386","user_id":"56955","keyword":["Acceleration feedback","emulation of mechanical loads","motion and servo control","machine and drive testing"],"status":"public","conference":{"start_date":"2021-10-13","end_date":"2021-10-16","name":"IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society","location":"Toronto, ON, Canada "},"date_created":"2022-06-22T14:29:18Z","publication_identifier":{"isbn":["978-1-6654-3554-3"],"issn":["2577-1647"]},"date_updated":"2023-03-15T13:50:15Z","publication_status":"published","year":2021,"abstract":[{"text":"The dynamic emulation of mechanical loads is required in a variety of applications to test and validate control algorithms. Typical test setups consist of two mechanically coupled motors, one of which is the Device Under Test (DUT) while the other is used as a load drive for emulation. Existing emulation concepts either rely on the differentiation of velocity feedback or utilize measured quantities of the DUT. The emulation method proposed in this paper uses acceleration feedback to control the torque of the load drive. It does not require any measured quantities of the DUT which allows a simple replacement of the DUT’s motor and/or inverter without the need of any conceptual changes. Based on a physical model, the emulation method is derived analytically and analyzed numerically for the emulation of one-mass-systems. The stability and emulation quality is evaluated considering two controller architectures. Finally, experiments are conducted and compared to numeric simulations to test the correct emulation.","lang":"eng"}],"department":[{"_id":"DEP6020"},{"_id":"DEP5022"}],"type":"conference_editor_article","title":"Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads","author":[{"first_name":"Michael","last_name":"Epp","full_name":"Epp, Michael"},{"last_name":"Griese","full_name":"Griese, Martin","id":"52308","first_name":"Martin"},{"last_name":"Schulte","full_name":"Schulte, Thomas","id":"46242","first_name":"Thomas"}]}]