---
_id: '8380'
abstract:
- lang: eng
  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.
author:
- first_name: Martin
  full_name: Griese, Martin
  id: '52308'
  last_name: Griese
- first_name: Fabian
  full_name: Kottmeier, Fabian
  id: '55385'
  last_name: Kottmeier
- first_name: Thomas
  full_name: Schulte, Thomas
  id: '46242'
  last_name: Schulte
citation:
  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>
  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>'
  bjps: <b>Griese M, Kottmeier F and Schulte T</b> (2021) <i>Vertical Control of a
    Self-Stabilizing Monorail Vehicle</i>. IEEE.
  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>.
  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'
  havard: M. Griese, F. Kottmeier, T. Schulte, Vertical control of a self-stabilizing
    monorail vehicle, IEEE, 2021.
  ieee: M. Griese, F. Kottmeier, and T. Schulte, <i>Vertical control of a self-stabilizing
    monorail vehicle</i>. IEEE, 2021, pp. 1–6.
  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>.
  short: M. Griese, F. Kottmeier, T. Schulte, Vertical Control of a Self-Stabilizing
    Monorail Vehicle, IEEE, 2021.
  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>).'
  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).
conference:
  end_date: 2021-10-16
  location: 'Toronto, ON, Canada '
  name: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society
  start_date: 2021-10-13
date_created: 2022-06-22T08:45:19Z
date_updated: 2023-03-15T13:50:15Z
department:
- _id: DEP6020
- _id: DEP5022
doi: 10.1109/IECON48115.2021.9589726
keyword:
- Vehicle dynamics
- Control moment gyroscope
- Control system analysis
- Roll stabilization
- Monorail vehicles
language:
- iso: eng
page: pp. 1-6
publication: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics
  Society
publication_identifier:
  isbn:
  - 978-1-6654-3554-3
  issn:
  - '2577-1647 '
publication_status: published
publisher: IEEE
series_title: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics
  Society
status: public
title: Vertical control of a self-stabilizing monorail vehicle
type: conference_editor_article
user_id: '56955'
year: 2021
...
---
_id: '8386'
abstract:
- lang: eng
  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.
author:
- first_name: Michael
  full_name: Epp, Michael
  last_name: Epp
- first_name: Martin
  full_name: Griese, Martin
  id: '52308'
  last_name: Griese
- first_name: Thomas
  full_name: Schulte, Thomas
  id: '46242'
  last_name: Schulte
citation:
  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>
  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>'
  bjps: <b>Epp M, Griese M and Schulte T</b> (2021) <i>Acceleration Feedback Concepts
    for Dynamic Emulation of Mechanical Loads</i>. IEEE.
  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>.
  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>
    .
  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'
  havard: M. Epp, M. Griese, T. Schulte, Acceleration Feedback Concepts for Dynamic
    Emulation of Mechanical Loads, IEEE, 2021.
  ieee: M. Epp, M. Griese, and T. Schulte, <i>Acceleration Feedback Concepts for Dynamic
    Emulation of Mechanical Loads</i>. IEEE, 2021, pp. 1–6.
  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>.
  short: M. Epp, M. Griese, T. Schulte, Acceleration Feedback Concepts for Dynamic
    Emulation of Mechanical Loads, IEEE, 2021.
  ufg: '<b>Epp, Michael et. al. (2021)</b>: Acceleration Feedback Concepts for Dynamic
    Emulation of Mechanical Loads.'
  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.
conference:
  end_date: 2021-10-16
  location: 'Toronto, ON, Canada '
  name: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society
  start_date: 2021-10-13
date_created: 2022-06-22T14:29:18Z
date_updated: 2023-03-15T13:50:15Z
department:
- _id: DEP6020
- _id: DEP5022
doi: 10.1109/IECON48115.2021.9589449
keyword:
- Acceleration feedback
- emulation of mechanical loads
- motion and servo control
- machine and drive testing
language:
- iso: eng
page: 1-6
publication: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics
  Society
publication_identifier:
  isbn:
  - 978-1-6654-3554-3
  issn:
  - 2577-1647
publication_status: published
publisher: IEEE
status: public
title: Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads
type: conference_editor_article
user_id: '56955'
year: 2021
...