@misc{13678, abstract = {{The previous methodology for optimizing CO2 emissions and electricity costs in industrial applications is extended by integrating dynamic load shifting with battery energy storage. Building on earlier work that employed Mixed-Integer Linear Programming (MILP) to manage a stationary battery based on real-time electricity prices and CO2 intensity signals, two industrial machines and one electric vehicle (EV) are now incorporated as additional shiftable loads. These new elements introduce further operational constraints while enhancing energy management flexibility. The framework employs an adjustable weighting factor λ to balance environmental impact and cost, and comparative analyses across three scenarios—battery-only, load-shifting-only, and combined—demonstrate nearly additive CO2 reductions alongside non-additive cost improvements, underscoring the synergistic potential for environmental benefits despite diminishing cost returns. Moreover, validation against dynamic programming confirms the MILP approach’s accuracy and computational efficiency.}}, author = {{Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{2025 5th International Conference on Electrical, Computer and Energy Technologies (ICECET)}}, keywords = {{Feeds, Antennas, System-on-chip, Application specific integrated circuits, Life cycle assessment, Product lifecycle management, Radio access networks, Regional area networks, Smart devices, OWL}}, location = {{Paris, France }}, publisher = {{IEEE}}, title = {{{Enhanced Dynamic Optimization for CO2 Reduction and Cost Savings through Load Shifting in Smart Factories}}}, doi = {{10.1109/icecet63943.2025.11472530}}, year = {{2026}}, } @misc{13675, abstract = {{This paper extends a previously developed biobjective Mixed-Integer Linear Programming (MILP) methodology for reducing electricity costs and CO2 emissions in Smart-E-Factory applications. While the earlier approach assumed fixed photovoltaic (PV) and battery capacities, we now propose a cascaded optimization framework to determine the optimal sizing (power rating and orientation of the PV system, battery capacity) while simultaneously optimizing battery dispatch. The cost function combines operational costs with amortized investment costs of both PV and battery systems, embedded in a dynamic scheduling optimization that addresses real-time electricity price and CO2 signals. Numerical results indicate that intermediate capacities and balanced east/west orientation maximize cost-effectiveness and emission reductions. This study underscores the value of coupling parametric design and dispatch optimization to achieve scalable, sustainable solutions for industrial energy systems.}}, author = {{Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{ 6th International Conference on Electrical, Communication and Computer Engineering (ICECCE 2025) : 27-28 August 2025, Istanbul, Türkiye}}, isbn = {{979-8-3315-4915-2 }}, keywords = {{Photovoltaic systems, Cost, Electricity, Tariffs, Stochastic processes, Real-time systems, Robustness, Batteries, Planning, Mixed integer linear programming}}, location = {{Istanbul, Turkiye }}, publisher = {{IEEE}}, title = {{{Cascaded Optimization of PV and Battery Sizing Under Dynamic Cost and CO Signals}}}, doi = {{10.1109/icecce67514.2025.11257982}}, year = {{2025}}, } @misc{13022, abstract = {{Numerous single-track railway lines are currently disused due to economic factors. These lines could potentially be reactivated by small vehicles that utilise only a single rail, enabling bidirectional operation simultaneously. The MONOCAB is such a compact monorail vehicle, stabilised by a system of control moment gyroscopes (CMGs) and a laterally movable, controllable trim mass. Despite their potential, there is currently a lack of comparative references for MONOCABs in relation to other vehicles. In the context of mechanical design and construction, interdependencies with roll stabilisation occur. Of particular concern are torsional effects, which can significantly impact stability. This study investigates the structural dynamics of monorail vehicles with a focus on the influence of gyroscopes. Gyroscopic systems play a significant role in the behaviour of such vehicles, affecting stability, control and response to external disturbances. Through a comprehensive approach encompassing analytical modelling, numerical simulations, and experimental validation, the interactions between the vehicle's structure and gyroscopic components are explored. The analytical considerations are validated via experimentally derived frequency responses utilising a full-scale monorail vehicle. The results of this study have implications for various fields, such as transportation, robotics and aerospace engineering.}}, author = {{Griese, Martin and Schulte, Thomas}}, booktitle = {{Vehicle system dynamics : international journal of vehicle mechanics and mobility}}, issn = {{1744-5159}}, keywords = {{Vehicle dynamics, rail vehicle, control moment gyroscope, stabilisation control, motion control, stability analysis}}, publisher = {{Taylor & Francis}}, title = {{{Gyroscopic effects in the structural dynamics of monorail vehicles}}}, doi = {{10.1080/00423114.2025.2480820}}, volume = {{63}}, year = {{2025}}, } @misc{12851, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. They could be reactivated by small vehicles that use only one rail and thus can be operated in both directions at the same time. MONOCABs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MONOCAB, there is currently no reference in comparison with other vehicles. In the context of mechanical design and construction, interdependencies with vertical stabilization occur. Torsional effects in particular can critically affect the stability. This paper investigates the influence of mechanical eigenmodes on the vertical stabilization system. Specific characteristics of the system (especially due to the gyroscopes) are highlighted by a model-based analysis. Moreover, a FEM modal analysis is used to examine the supporting frame of the vehicle. The results are compared to experimentally estimated frequency responses of a full-scale monorail vehicle.}}, author = {{Griese, Martin and Döding, Patrick and Schulte, Thomas}}, booktitle = {{Advances in Dynamics of Vehicles on Roads and Tracks III : Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, August 21–25, 2023, Ottawa, Canada - Volume 1: Rail Vehicles }}, editor = {{Huang, Wei and Ahmadian, Mehdi }}, isbn = {{978-3-031-66970-5}}, issn = {{2195-4364}}, keywords = {{vehicle dynamics, roll stabilization, modal analysis}}, location = {{Ottawa, CANADA}}, pages = {{107--116}}, publisher = {{Springer Nature Switzerland}}, title = {{{Analysis of Mechanical Eigenmodes of a Self-stabilizing Monorail Vehicle}}}, doi = {{10.1007/978-3-031-66971-2_12}}, year = {{2024}}, } @misc{13224, abstract = {{This paper presents a robust methodology for optimizing CO2 emissions and electricity costs in industrial applications, with the aim of developing a flexible and dynamic energy management strategy that balances sustainability and cost-efficiency. Addressing the growing need for sustainable and economically viable energy solutions amidst the global urgency of climate change mitigation, the proposed approach is based on dynamic energy management techniques that minimize dependence on grid electricity, which can fluctuate between energy import and export. A flexible cost function is developed to simultaneously account for CO2 emissions and electricity prices, enabling a balance between environmental impact and operational costs. The optimization framework employs Mixed-Integer Linear Programming (MILP) to derive the optimal energy management strategy, showcasing significant potential for reducing both CO2 emissions and electricity costs. Although the methodology is demonstrated in a specific industrial setting, its flexible design ensures applicability across various energy profiles and operational scenarios, making it relevant for a wide range of industrial applications.}}, author = {{Mousavi, Seyed Davood and Griese, Martin and Schulte, Thomas}}, booktitle = {{2024 International Conference on Electrical and Computer Engineering Researches (ICECER)}}, keywords = {{CO2 Reduction, Electricity Cost Minimization, Life Cycle Assessment, MILP, Smart-E-Factory, Dynamic Energy Management}}, location = {{Gaborone, Botswana }}, publisher = {{IEEE}}, title = {{{Dynamic Optimization of CO2 Emissions and Electricity Costs in Smart Factories}}}, doi = {{10.1109/icecer62944.2024.10920418}}, year = {{2024}}, } @misc{11305, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, one way they could be reactivated for a bidirectional on-demand service traffic is 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 trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MONOCAB, there is currently no reference in comparison with other vehicles. It is mandatory to gain experience before transferring such a new vehicle concept into commercial operation. To ensure the function and safety of the vehicle even before implementation, a model-based design of the system is carried out for development and analysis. In order to test the developed algorithms, this paper presents a Hardware-in-the-loop structure considering a detailed model of the vehicle and real electronic control units to accurately represent the overall system. This paper focuses on the driving system of the vehicle and investigates interdependencies with the performance of the electronic control units and communication networks.}}, author = {{Hanselle, Raphael and Griese, Martin and Rasche, Rainer and Schulte, Thomas}}, booktitle = {{2023 IEEE 21st International Conference on Industrial Informatics (INDIN)}}, editor = {{Jasperneite, Jürgen and Wisniewski, Lukasz and Man, Kim Fung}}, isbn = {{978-1-6654-9314-7}}, location = {{Lemgo}}, publisher = {{IEEE}}, title = {{{HIL Simulation of the Positioning Control for an Automated Driving Monorail Vehicle}}}, doi = {{10.1109/indin51400.2023.10218259}}, year = {{2023}}, } @misc{11306, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, one way 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 trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MONOCAB, there is currently no reference in comparison with other vehicles. It is mandatory to gain experience before transferring such a new vehicle concept into commercial operation. Especially the safe and robust commissioning of the stabilization control system is crucial and therefore requires an elaborated procedure. At this step, parameters related to the vertical dynamics have to be determined beforehand. This paper presents a comparative investigation of methods to estimate the moment of inertia and gravitational torque constant. Multiple methods in time-domain and frequency-domain are experimentally evaluated and compared with each other. Experimental tests are carried out with a full-scale monorail vehicle.}}, author = {{Griese, Martin and Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}}, isbn = {{978-1-6654-7634-8}}, issn = {{2159-6255}}, keywords = {{Parameter identification, Vehicle dynamics, Control moment gyroscope, Roll stabilization, Monorail vehicles}}, location = {{Seattle, Wash.}}, pages = {{1196--1201}}, publisher = {{IEEE}}, title = {{{Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle}}}, doi = {{10.1109/aim46323.2023.10196189}}, year = {{2023}}, } @misc{11307, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, one way 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 trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MonoCab, there is currently no reference in comparison with other vehicles and no experimental experience or the like. To ensure the function and safety of the vehicle even before implementation, a model-based design of the system is carried out for development and analysis. In order to test the developed algorithms, this paper presents a Hardware-in-the-loop structure considering a detailed model of the vehicle and real electronic control units to accurately represent the overall system. Two scenarios are investigated and compared to offline simulations showing that the functionality of the system can be ensured in operation.}}, author = {{Griese, Martin and Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society}}, isbn = {{978-1-6654-8026-0}}, location = {{Brussels, Belgium}}, publisher = {{IEEE}}, title = {{{HIL simulation of a self-stabilizing monorail vehicle}}}, doi = {{10.1109/iecon49645.2022.9968495}}, year = {{2022}}, } @misc{11817, author = {{Dörr, Sebastian and Schulte, Thomas and Dally, Benjamin}}, booktitle = {{Kraftstoffe für die Mobilität von morgen: 4. Tagung der Fuels Joint Research Group am 10. und 11. Juni 2021 in Dresden-Radebeul }}, editor = {{Bünger, Jürgen and Eilts, Peter and Krahl, Jürgen and Munack, Axel}}, isbn = {{978-3-7369-7440-1}}, location = {{Dresden-Radebeul}}, pages = {{32--40}}, publisher = {{Cuvillier Verlag}}, title = {{{Propulsion for sustainable mobility by the example of public transportation }}}, volume = {{30}}, year = {{2022}}, } @misc{11871, author = {{Dally, Benjamin and Schwickert, Susanne and Kühle, Sebastian and Oshkai, Irina and Engels, Christian and Kottmeier, Fabian and Schulte, Thomas and Üpping, Johannes}}, pages = {{243}}, publisher = {{TH OWL}}, title = {{{Mobilitätszentren der Zukunft : Leitfaden Multimodalhub}}}, year = {{2022}}, } @misc{9287, author = {{Stork, Dominic and Lück, Sönke and Griese, Martin and Naumann, Rolf and Schulte, Thomas}}, booktitle = {{World Congress on Railway Research 2022 (WCRR 2022) Draft Technical Programme}}, location = {{Birmingham, UK}}, publisher = {{SNCF}}, title = {{{MonoCab – Simulation-based development of a running gear concept for monorail vehicles}}}, year = {{2022}}, } @misc{12814, abstract = {{Plug-in hybrid electric vehicles (PHEVs) are developed to reduce fuel consumption and the emission of carbon dioxide. Common powertrain configurations of PHEVs (i.e., the configuration of the combustion engine, electric motor, and transmission) can be operated either in series, parallel, or power split hybrid mode, whereas powertrain configurations with multimode transmissions enable switching between those modes during vehicle operation. Hence, depending on the current operation state of the vehicle, the most appropriate mode in terms efficiency can be selected. This, however, requires an operating strategy, which controls the mode selection as well as the torque distribution between the combustion engine and electric motor with the aim of optimal battery depletion and minimal fuel consumption. A well-known approach is the equivalent consumption minimization strategy (ECMS). It can be applied by using optimizations based on a prediction of the future driving behavior. Since the outcome of the ECMS depends on the quality of this prediction, it is crucial to know how accurate the predictions must be in order to obtain acceptable results. In this contribution, various prediction methods and real-time capable ECMS implementations are analyzed and compared in terms of the achievable fuel economy. The basis for the analysis is a holistic model of a state-of-the-art PHEV powertrain configuration, comprising the multimode transmission, corresponding powertrain components, and representative real-world driving data.}}, author = {{Geng, Stefan and Schulte, Thomas and Maas, Jürgen}}, booktitle = {{Applied Sciences}}, issn = {{2076-3417}}, keywords = {{PHEV, ECMS, multimode transmission, optimization, powertrain modeling}}, number = {{6}}, publisher = {{MDPI AG}}, title = {{{Model-Based Analysis of Different Equivalent Consumption Minimization Strategies for a Plug-In Hybrid Electric Vehicle}}}, doi = {{10.3390/app12062905}}, volume = {{12}}, year = {{2022}}, } @misc{8380, abstract = {{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 = {{Griese, Martin and Kottmeier, Fabian and Schulte, Thomas}}, booktitle = {{IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society}}, isbn = {{978-1-6654-3554-3}}, issn = {{2577-1647 }}, keywords = {{Vehicle dynamics, Control moment gyroscope, Control system analysis, Roll stabilization, Monorail vehicles}}, location = {{Toronto, ON, Canada }}, pages = {{pp. 1--6}}, publisher = {{IEEE}}, title = {{{Vertical control of a self-stabilizing monorail vehicle}}}, doi = {{10.1109/IECON48115.2021.9589726}}, year = {{2021}}, } @misc{8384, abstract = {{ynamic simulation models are widely utilized to evaluate complex technical components and systems like electric drives or machines. They can support the development process of a production machine by avoiding an inadequate layout of components or an erroneous control design. However, the effort for building them is often too high for this purpose (lot size one). An automated model generation can be utilized to overcome the gap between efforts and advantages of dynamic simulations. This contribution presents an approach for simplifying the dynamic model generation of production machines by using the so-called Asset Administration Shell defined by the initiative Platform Industrie 4.0. The Asset Administration Shell was developed to aggregate all data necessary for maintaining the product across its life cycle. This includes component data and models as well as structural information about a machine. The generation process is performed by using the common FMI standard and a two-step procedure which allows the linkage of different simulation tools. The model generation is demonstrated by an example layout of a machine's internal direct current grid.}}, author = {{Göllner, D. and Pawlik, Thomas and Schulte, Thomas}}, booktitle = {{2021 IEEE International Conference on Industrial Engineering and Engineering Management (IEEM)}}, isbn = {{978-1-6654-3772-1 }}, issn = {{2157-3611}}, keywords = {{Digital Twin, Asset Administration Shell, Dynamic Simulation Model, Industry 4.0, Automated Model Generation}}, location = {{Online (Singapore)}}, pages = {{808--812}}, publisher = {{IEEE}}, title = {{{Utilization of the Asset Administration Shell for the Generation of Dynamic Simulation Models}}}, doi = {{10.1109/IEEM50564.2021.9673089}}, year = {{2021}}, } @misc{8385, abstract = {{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 focuses on the analytical modeling and vertical stabilization system of the MonoCab. A nonlinear dynamic model is obtained using the Lagrangian method and subsequently linearized about its equilibrium point. Which is used for the design of the cascade control system. The dynamic analysis of the system is accomplished by comparing between analytically derived model in simulink environment and same structured model in simscape multibody. 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 precession 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. 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. For the experimental validation, a small scaled test rig is used which consists of mechanical frames and flywheels, inverter-fed drives, rotary encoders, an inertial measurement unit (IMU) and a rapid control prototyping system.}}, author = {{Griese, Martin and Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)}}, keywords = {{Vehicle dynamics, Control moment gyroscope, Control system analysis, Roll stabilization, Monorail vehicles}}, location = {{Belval, Luxembourg }}, pages = {{205--210}}, publisher = {{IEEE}}, title = {{{Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle}}}, doi = {{10.1109/ICCMA54375.2021.9646219}}, year = {{2021}}, } @misc{8386, abstract = {{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 = {{Epp, Michael and Griese, Martin and Schulte, Thomas}}, booktitle = {{IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society}}, isbn = {{978-1-6654-3554-3}}, issn = {{2577-1647}}, keywords = {{Acceleration feedback, emulation of mechanical loads, motion and servo control, machine and drive testing}}, location = {{Toronto, ON, Canada }}, pages = {{1--6}}, publisher = {{IEEE}}, title = {{{Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads}}}, doi = {{10.1109/IECON48115.2021.9589449}}, year = {{2021}}, } @inproceedings{8712, author = {{Griese, Martin and Schulte, Thomas}}, booktitle = {{2020 IEEE 14th International Conference on Compatibility, Power Electronics and Power Engineering (CPE-POWERENG)}}, location = {{Setúbal, Portugal}}, pages = {{388--393}}, title = {{{System reduction of optimal control problems with seasonal storage}}}, doi = {{10.1109/CPE-POWERENG48600.2020.9161699}}, volume = {{1}}, year = {{2020}}, } @inproceedings{4028, abstract = {{Es wird allgemein erwartet, dass die Mobilität in Zukunft aufgrund des Klimawandels und der Ressourcenknappheit unabhängiger von fossilen Brennstoffen sein muss. Eine vernünftige Änderung der Mobilität würde jedoch ein Konzept erfordern, das den Ursprung der Antriebsenergie (z. B. Kraftstoffe) sowie ein geeignetes Konzept für die Übergangszeit des technologischen Wandels berücksichtigt. Die Forschungsaktivitäten sollten für jede technologische Option offen sein. In diesem Beitrag wird die geeignete Auswahl der Antriebskonzepte und Energieträger für Busse im öffentlichen Verkehr diskutiert und ein umfassendes Forschungsprojekt mit einer Modellregion und einem virtuellen Institut skizziert.}}, author = {{Dörr, S. and Schulte, Thomas}}, location = {{Ludwigsburg}}, title = {{{Auswahl von Antriebskonzepten und Energieträgern für eine nachhaltige Mobilität am Beispiel des öffentlichen Verkehrs}}}, year = {{2020}}, } @unpublished{4864, author = {{Flasskamp, Martin and Fast, Harry and Fliedner, Niels Hendrik and Henze-Sakowsky, Annika and Hufen, Florian and Lohmann, Paul and Lück, Söhnke and Schmelter, Andreas and Jungeblut, Thorsten and Jasperneite, Jürgen and Naumann, Rolf and Rückert, Ulrich and Schulte, Thomas and Witte, Stefan}}, publisher = {{Verbundforschungsprojekts MOVE-IN-OWL}}, title = {{{Vorstudie Vernetzte Mobilität OWL}}}, year = {{2020}}, } @inproceedings{4026, abstract = {{The control and structural expansion of decentralized energy systems are very challenging due to the volatility of renewable energies and progressive structural changes. For balancing out seasonal fluctuations, conversions into heat or gas in combination with long-term storages are frequently discussed approaches. In context of an optimal conceptual synthesis of such systems, investigations regarding the operation and design require a large time period of at least one year. In order to solve such optimal control problems, an immense calculation time is required. This contribution presents a multistep approach which determines the optimal operation strategy in an iterative way and is capable of reducing the calculation effort. In the first step, a rough optimization incorporating a low modelling depth is performed. Especially in combination with a rough time discretization, dynamic short-term storages (e.g. electrical batteries) can become irrelevant from an optimization point of view. Therefore, the considered system can be virtually reduced by several state and control variables resulting in a significantly reduced computation time. In a second optimization, the optimal control problem is constrained using the results of the previous step. Especially the obtained values for the state of charge of the long-term storage improve significantly the quality of the second optimization. While in the first step, the dynamic programming is utilized to solve the optimal control problem in one instance, the second step uses the mixed integer linear programming to solve multiple short time periods of the optimal control problem in a sequential way. Results are presented on the basis of a simple test scenario where the electrical energy supply of a residential quarter is investigated using real photovoltaic data of one year, a modelled fuel cell system as long-term storage and an electrical battery storage as short-term storage.}}, author = {{Griese, Martin and Pawlik, Thomas and Schulte, Thomas}}, location = {{Wroclaw}}, title = {{{Optimized operation of long-term storages considering a scalable modelling depth}}}, year = {{2019}}, } @article{5435, abstract = {{Towards renewable energy systems, the coupling of multiple sectors is important and incorporates novel technologies where currently no models exist that correctly represent all transient effects. Therefore, we present a method that incorporates Hardware-in-the-Loop simulations where virtual components as models are coupled to real and experimental facilities in real time. By including experimental components, a higher validity can be obtained and the practical applicability of renewable energy scenario can be discussed more profoundly. In this paper, the considered energy system consists of an experimental biocatalytic methanation reactor, a real photovoltaic park, a regenerative fuel cell and short-term storage units to supply a residential district. A representative control sequence of the methanator is obtained by modeling the scenario as an optimal control problem. A first HIL simulation highlights that modifications of the instrumentation are required for a grid injection of the generated methane. The scientific approach can be applied to any energy system where some of the considered components are available as experimental or real facilities. Non-exisiting components are simply replaced by models. The presented approach helps to determine which parts or process parameters are crucial for the planed operation before the overall energy system is realized on a larger scale. (C) 2019 Elsevier Ltd. All rights reserved.}}, author = {{Griese, Martin and Hoffrath, Marc Philippe and Broeker, Timo and Schulte, Thomas and Schneider, Jan}}, issn = {{1873-6785}}, journal = {{Energy : the international journal}}, keywords = {{Biological methanation, Energy management, HIL simulation, Optimization, Scalable models}}, location = {{Guimaraes, PORTUGAL}}, pages = {{77 -- 90}}, publisher = {{Elsevier}}, title = {{{Hardware-in-the-Loop simulation of an optimized energy management incorporating an experimental biocatalytic methanation reactor}}}, doi = {{10.1016/j.energy.2019.05.092}}, volume = {{181}}, year = {{2019}}, } @article{4001, abstract = {{In this contribution, a model-based method for analyzing and optimizing energy systems comprising the electrical, thermal and chemical domain is presented. The method is a variant of the Hardware-in-the-Loop (HIL) simulation where virtual components are combined with real experimental components of the evaluated system. In order to integrate the real components with minimal instrumentation efforts, measured quantities are included as information flows, only, while the physical power flows are connected to local supply structures, like the electric grid or gas distribution system. This contribution incorporates a biocatalytic methanation reactor as an experimental component to convert hydrogen and carbon dioxide into methane. Compared to the well-known Sabatier process, this reactor operates at lower temperature levels and does not need pure carbon dioxide. This allows a dynamic operation and makes it more flexible regarding the carbon dioxide source whose availability is often critically discussed. The virtual energy components are represented by real-time capable models describing their physical behavior. In a test scenario, the electrical energy supply of residential quarters is investigated where photovoltaic data and a modeled fuel cell system are included beside the real experimental methanation process. For the dynamical management of energy and operating gases, electrical and chemical storage units are considered as virtual components, as well. The previous described energy system allows various strategies regarding the operation of the components, especially the storage units. Therefore an optimized energy management is reasonable, based on a designated criterion, e.g. minimal operating costs or maximum energy efficiency. In order to find the global optimum, the method of dynamic programming is used to determine the optimal control sequence for an assumed operation case, e.g. given by the photovoltaic yield of the considered day. Finally, the found solution is tested in real-time by the proposed HIL simulation.}}, author = {{Griese, Martin and Hoffrath, M. and Broeker, Timo and Schneider, J. and Schulte, Thomas}}, journal = {{ECOS}}, title = {{{HIL simulation of an optimized energy management incorporating an experimental biocatalytic methanation reactor}}}, year = {{2018}}, } @article{4029, abstract = {{Plug-in hybrid electric vehicles are developed in order to reduce the fuel consumption and the emission of carbon dioxide. Besides the series, parallel and power split configurations are commonly used for conventional hybrid electric vehicles, and multimode transmissions are used for plug-in hybrid electric vehicles, which are able to switch between different modes like parallel or series operation of the combustion engine and electric motor. Several concepts have already been discussed and presented. These concepts comprise novel structures and multi-speed operation for the combustion engine and the electric motor, respectively. For improving the fuel and energy consumption, model-based optimizations of multimode transmissions are performed. In the first step of the optimization, the optimal number of gears and transmission ratios, as well as the corresponding fuel and energy savings, are estimated. Based on these results, a new multimode transmission concept with two-speed transmissions for the combustion engine and the electric motor has been developed. The knowledge of the concrete concept enables the further optimizations of the transmission ratios and the transmission control. In order to prove the benefit of the new and optimized transmission concept, powertrain simulations have been carried out. The new powertrain concept is compared to a powertrain concept with single-speed transmissions for the internal combustion engine (ICE) and electric motor operation. The new transmission concept enables a significant improvement of the fuel consumption.}}, author = {{Geng, Stefan and Meier, A. and Schulte, Thomas}}, journal = {{World Electric Vehicle Journal}}, number = {{1}}, pages = {{12}}, publisher = {{MDPI}}, title = {{{Model-Based Optimization of a Plug-In Hybrid Electric Powertrain with Multimode Transmission}}}, volume = {{9}}, year = {{2018}}, } @inproceedings{4020, abstract = {{Plug-in hybrid electric vehicles (PHEV) are developed to reduce the fuel consumption and the emission of carbon dioxide. The transmission is a core component in PHEVs since it defines the interaction between the internal combustion engine and the electric motors. Due to the complexity of PHEVs, a model-based development is carried out for novel transmission concepts, which takes the overall powertrain into account, as well. In this contribution, an approach for the model-based development of transmission concepts for PHEVs is presented. It incorporates the development and evaluation of new concepts as well as the development and test of corresponding controllers. Since each step of the development requires a powertrain model with an appropriate level of detail, an automatic model generation is used to enable an efficient workflow. This contribution focuses on the development of new transmission concepts only. It comprises an optimization of the number of gears and transmission ratios for an exemplary transmission. As a result of the proposed approach a novel transmission concept for PHEVs including a model-based evaluation is presented.}}, author = {{Geng, Stefan and Zubke, T. and Schulte, Thomas}}, location = {{Los Angeles, CA, USA }}, pages = {{1637 -- 1642}}, publisher = {{IEEE}}, title = {{{Model-Based Development of Transmission Concepts for Hybrid Electric Powertrains}}}, year = {{2017}}, } @article{4031, abstract = {{Plug-in hybrid electric vehicles are developed in order to reduce the fuel consumption and the emission of carbon dioxide. Besides the series, parallel and power split configurations are commonly used for conventional hybrid electric vehicles, and multimode transmissions are used for plug-in hybrid electric vehicles, which are able to switch between different modes like parallel or series operation of the combustion engine and electric motor. Several concepts have already been discussed and presented. These concepts comprise novel structures and multi-speed operation for the combustion engine and the electric motor, respectively. For improving the fuel and energy consumption, model-based optimizations of multimode transmissions are performed. In the first step of the optimization, the optimal number of gears and transmission ratios, as well as the corresponding fuel and energy savings, are estimated. Based on these results, a new multimode transmission concept with two-speed transmissions for the combustion engine and the electric motor has been developed. The knowledge of the concrete concept enables the further optimizations of the transmission ratios and the transmission control. In order to prove the benefit of the new and optimized transmission concept, powertrain simulations have been carried out. The new powertrain concept is compared to a powertrain concept with single-speed transmissions for the internal combustion engine (ICE) and electric motor operation. The new transmission concept enables a significant improvement of the fuel consumption.}}, author = {{Geng, Stefan and Meier, A. and Schulte, Thomas}}, journal = {{World Electric Vehicle Journal}}, location = {{Stuttgart}}, number = {{1}}, pages = {{12}}, publisher = {{MDPI}}, title = {{{Model-Based Optimization of a Plug-In Hybrid Electric Powertrain with Multimode Transmission}}}, volume = {{9}}, year = {{2017}}, } @misc{3970, author = {{Schulte, Thomas}}, title = {{{Umlaufgetriebe}}}, year = {{2016}}, } @inproceedings{4021, abstract = {{Plug-in hybrid electric vehicles are developed to reduce the fuel consumption and the emission of carbon dioxide. Besides the series, parallel and power split configurations as commonly used for conventional hybrid electric vehicles, multimode transmissions are in particular used for plug-in hybrid electric vehicles, which enable to switch between different modes like parallel or series operation of combustion engine and electric motor. Based on cost efficient configurations of multimode transmissions, improved concepts have already been discussed and presented. These concepts comprise novel structures and multi-speed operation for the combustion engine or the electric motor, respectively. For improving the fuel and energy consumption, a simulation based optimization of a multimode transmission is applied. Since the development of corresponding transmission models is a time-consuming and error-prone task, a method for an automated generation of transmission models is present in this contribution. The generated transmission models are integrated into an overall stationary powertrain model, which is used to optimize an operating strategy and the gear ratios of a multimode transmission with respect to fuel and energy consumption. The optimization is applied to a two and a three speed transmission for the internal combustion engine and to a two speed transmission for the electric motor. Afterwards, the optimization results as well as the fuel and energy saving results are presented.}}, author = {{Geng, Stefan and Herber, Sebastian and Hildebrandt, Willy and Schulte, Thomas}}, booktitle = {{36th FISITA World Automotive Congress (FISITA 2016) : Creative Thinking for Future Automobiles}}, isbn = {{978-1-5108-6958-5}}, location = {{Busan, South Korea }}, publisher = {{Curran Associates, Inc.}}, title = {{{Powertrain Simulation and Optimization of a Multimode Transmission}}}, year = {{2016}}, } @inproceedings{4022, author = {{Herber, Sebastian and Horst, J. and Gassmann, T. and Hldebrandt, W. and Haupt, J. and Abbenhaus, M. and Werkhausen, M. and Schulte, Thomas and Maas, Jürgen and Geng, Stefan and Hegger, C.}}, booktitle = {{36th FISITA World Automotive Congress (FISITA 2016) : Creative Thinking for Future Automobiles}}, isbn = {{978-1-5108-6958-5}}, location = {{Busan, South Korea }}, publisher = {{Curran Associates, Inc.}}, title = {{{“Phevplus” - Efficient Plug-in- Hybrid Systems with MRF-Coupling Technology}}}, year = {{2016}}, } @inproceedings{4023, abstract = {{Modular power inverter systems for auxiliary drives in utility vehicles can meet various different customer requirements. A model based approach can be used for validating the thermal design of those systems in any suitable modular configuration. This contribution is focused on an equivalent lumped thermal network model for a modular inverter system on a given heat sink concept. The proposed network representation is based on spatial splitting of the heat sink geometry whereby the lumped network elements are parametrized by means of the heat sink geometry. Since the proposed network is easy and straightforward, a minimum of variables are introduced to adjust the temperature results empirically with FEM results on certain reference operation points. Furthermore, modularity is considered due to the coolant and therefore, customer specific placement of modules can be investigated. Finally, the proposed model is compared with FEM results of a worst case system configuration, the influence of the introduced adjustment variables is shown and further validation results with thermal measurements and FEM results of different system configurations are given.}}, author = {{Brose, M. and Düerkop, C. and Schulte, Thomas}}, location = {{Karlsruhe}}, pages = {{1 --10}}, publisher = {{IEEE}}, title = {{{Model based Thermal Evaluation of a Modular Power Inverter System}}}, year = {{2016}}, } @inproceedings{4024, abstract = {{For investigating combined grid systems including electrical, thermal and chemical grids, a scientific approach based on Hardware-in-the-loop simulation is carried out where models as virtual energy components are coupled with experimental facilities. In this contribution, a bidirectional fuel cell system is described in detail as a virtual energy component considering the bidirectional fuel cell, the power inverter and the local management. For modelling the bidirectional cell, the electrochemical domain is considered by a physical-based approach in a first step. Common models for unidirectional fuel cells or electrolysis cells are discussed regarding the applicability for bidirectional cells. Afterwards, the DC-DC converter as part of the overall power inverter is considered for modelling. A novel averaged model for the dual active bridge based on the method by Sanders and Verghese is presented. Finally, the overall model and local management of such systems are discussed.}}, author = {{Griese, Martin and Pawlik, Thomas and Schulte, Thomas and Maas, Jürgen}}, issn = {{2166-9546 }}, location = {{Bydgoszcz, Poland }}, pages = {{186 -- 191}}, publisher = {{IEEE}}, title = {{{Electrodynamical modelling of bidirectional fuel cell systems for HIL simulations of combined grid systems}}}, year = {{2016}}, } @inbook{4025, abstract = {{Power electronic devices are growing in importance in automotive applications. Power converters are used in hybrid electric vehicles, but also in other vehicle applications like electric steering systems for example. For testing electronic equipment, hardware-in-the-loop (HIL) simulation is a today’s standard method in the automotive industry and other fields, as well. This contribution provides an overview of different average modeling methods for the real-time simulation of power electronics, which are necessary for hardware-in-the-loop simulation. The average models are described and evaluated by the criteria computation effort, algorithmizability, generalizability and platform usability. The results are summarized to give hints to development engineers for choosing a suitable modeling approach for hardware-in-the-loop simulation of their specific applications.}}, author = {{Kiffe, Axel and Schulte, Thomas}}, booktitle = {{Simulation and Testing for Vehicle Technology}}, editor = {{Gühmann, C. and von Rüden, K.}}, isbn = {{978-3-319-32345-9}}, location = {{Berlin}}, pages = {{319 -- 342}}, publisher = {{Springer International Publishing }}, title = {{{Average Models for Hardware-in-the-Loop Simulation of Power Electronic Circuits}}}, year = {{2016}}, } @article{4012, abstract = {{Hybrid electric powertrains are developed for reducing the fuel consumption and consequently the emission of carbon dioxide. The fuel consumption of those systems depends significantly on the topology of the powertrain and the applied control strategy. For testing and improving the control strategy in terms of the overall system efficiency, Hardware-in-the-Loop (HIL) simulation can be applied. In order to operate the corresponding electronic control units in a virtual environment, it emulates the behavior of the actuator and sensor signals by a real-time simulation of the powertrain. Developing those powertrain models is a time-consuming task, due to high dynamics and high switching frequencies of the electrical subsystem and due to the large diversity of powertrain configurations. The electrical subsystem comprises the electric motor, inverter and battery whereas the different powertrain configurations are composed of the transmission, the combustion engine, the electric drives, etc.. Additionally, the correct power flow and losses within the powertrains components must be considered when HIL simulation is intended to be used for improving the control strategy.In this contribution a method for modeling arbitrary combinations of clutches and various types of gears is presented which enables an efficient modeling of transmission systems. The obtained models are real-time capable and the correct power flows and losses are considered. The method is applied to a powertrain with a two mode power-split transmission, which is a typical example comprising electric drives as well as shifting clutches. Finally simulation results will be presented.}}, author = {{Geng, Stefan and Schulte, Thomas}}, issn = {{2167-4205}}, journal = {{SAE International Journal of Alternative Powertrains }}, number = {{1}}, pages = {{34 -- 45}}, publisher = {{SAE International}}, title = {{{Real-Time Powertrain Models of Hybrid Electric Vehicles}}}, volume = {{4}}, year = {{2015}}, } @inproceedings{4014, abstract = {{In this contribution, a model-based method for analysing and designing energy systems comprising the electrical, thermal and chemical domain is presented. Beside the energy generation and consumption, the bidirectional coupling between all energy domains is considered, as well. This method is an adapted variant of the so called Hardware-in-the-Loop simulation where virtual energy components are combined with geographically distributed real energy components. In order to integrate the real components with minimal instrumentation efforts, measured quantities are included as information flows, only, while the physical power flows are connected to local available grid structures. The virtual energy components are represented by real-time capable models describing their physical behaviour. In this contribution, a CHP unit is described as a virtual energy component. The modelling approach is based on a time domain approach using state variables of the multiple domains to describe the dynamic behaviour. Afterwards, the model is parameterized by datasheet specifications and measurement data of several CHP units with different power ratings. Based on these results, a method for scaling the proposed CHP model is presented. Especially for parameter studies, this method allows a simple adaption of a general parameterized CHP model. Moreover, a method for scaling such models with respect to the modelling depth is proposed and exemplarily applied to the electrical generator of the CHP model. This scaling method enables the model adaptations for different simulation purposes like detailed investigations of single structures and holistic investigations of large combined grid systems.}}, author = {{Griese, Martin and Pawlik, Thomas and Schulte, Thomas}}, booktitle = {{ International ETG Congress 2015 ; Die Energiewende - Blueprints for the new energy age}}, isbn = {{978-3-8007-4121-2}}, location = {{Bonn}}, publisher = {{VDE-Verlag}}, title = {{{Methods for scaling a physical based CHP model for HIL simulation of smart combined grid systems}}}, year = {{2015}}, } @inproceedings{4016, abstract = {{Power electronic devices are growing in importance in automotive applications. Power converters are used in hybrid electric vehicles but also in other vehicle applications like electric steering systems for example. For testing electronic equipment, hardware-in-the-loop simulation is a today's standard method in the automotive industry. Hardware-in-the-loop simulation requires a real-time capable model of the plant but the development of those models of power electronic circuits is still an ambitious task due to the switching of the semiconductors devices. In this contribution, a FPGA-based hardware-in-the-loop simulation of a rectifier with power factor correction will be presented. First a short introduction on modelling methods for real-time simulation of power electronics and the rectifier with power factor correction is given. Furthermore, the modeling of the rectifier and the power factor correction stage and the simulation algorithm are described. Finally, the implementation of the hardware-in-the-loop simulation and measurement results from the real plant are presented and compared to the simulation results.}}, author = {{Kiffe, Axel and Schulte, Thomas}}, location = {{Geneva, Switzerland}}, pages = {{1 -- 8}}, publisher = {{IEEE}}, title = {{{FPGA-based hardware-in-the-loop simulation of a rectifier with power factor correction}}}, year = {{2015}}, } @inproceedings{4017, abstract = {{In diesem Beitrag wurde eine Vorgehenswelse vorgestellt, mit der echtzeitfähige Modelle beliebiger Konfigurationen von Übersetzungen, Kupplungen und weiteren mechanischen Elementen kombiniert mit Elektromotoren erstellt werden können. Außerdem berücksichtigen diese Modelle die Verlustleistungen im System und können somit zur Auslegung von Betriebsstrategien am HIL-System verwendet werden. Die Vorgehenswelse ist in vier Schritte unterteilt und unter Matlab/Slmulink implementiert. Durch die Wahl dieser in der HIL-Simulation weitverbreiteten Modellierungsumgebung können weitere Matlab/Simullnk basierte Streckenmodelle eingebunden werden und die zur HIL-Simulation benötigte Kopplung zu den Steuergeräteschnittstellen effizient durchgeführt werden. Aufgrund einer graphischen Darstellung der Systeme und einer halbautomatisierten Erstellung der Modelle ist der Ansatz entsprechend flexibel gegenüber Systemmodifikationen. Die Modellierungsmethode wurde anhand von Simulationen für einen Beispielantriebsstrang validiert.}}, author = {{Geng, Stefan and Brose, M. and Schulte, Thomas}}, publisher = {{VDI Verlag}}, title = {{{Konfigurierbare und Echtzeitfähige Modelle von Getrieben mit gekoppelten Elektromotoren unter Berücksichtigung korrekter Verlustleistung}}}, year = {{2015}}, } @article{4018, abstract = {{In this contribution, a model-based method for analyzing and designing energy systems comprising the electrical, thermal and chemical domains is presented. Beside the energy generation and consumption, the bidirectional coupling between all energy domains is considered, as well. This method is an adapted variant of the so called Hardware-in-the-Loop simulation where virtual energy components are combined with geographically distributed real energy components. In order to integrate the real components with minimal instrumentation efforts, measured quantities are included as information flows, only, while the physical power flows are connected to local available grid structures. This virtual coupling has the further advantage of a simple scalability so that existing real components can be used for different applications. The virtual energy components are represented by real-time capable models describing their physical behavior. In this contribution, a CHP unit is described as a first virtual energy component. The modeling approach is based on a time domain approach using state variables of the multiple domains to describe the dynamic behavior. Furthermore, the model is scalable regarding the modeling depth and the power ratings which allows an application for different simulation scenarios. Besides the modeling of a standalone CHP unit, its integration into a simulated electrical grid is discussed as well. Afterwards, the overall model is parameterized and validated with data of a medium size CHP unit. Finally, the model is used for simulations of an exemplary electrical grid.}}, author = {{Griese, Martin and Schulte, Thomas and Maas, Jürgen}}, issn = {{2148-7847}}, journal = {{Journal of Thermal Engineering}}, number = {{6}}, pages = {{467 -- 487}}, publisher = {{Yildiz Technical University }}, title = {{{A holistic modeling and simulation approach to optimize a smart combined grid system of different renewable energies}}}, volume = {{1}}, year = {{2015}}, } @inbook{4019, abstract = {{Im Rahmen dieses Beitrages wurde die Notwendigkeit intelligenter, gekoppelter Verbundsysteme diskutiert und ein wissenschaftlicher Ansatz zur Optimierung solcher Systeme vorgestellt. Der Ansatz basiert auf einer ganzheitlichen Betrachtung im Rahmen einer Echtzeitsimulation mit gekoppelten realen Komponenten. Zur virtuellen Koppelung wird ein Simulationsmanager eingesetzt, der eine Skalierung der realen Komponenten erlaubt. Dies ermöglicht eine einfache Adaptierung von realen und simulierten Komponenten an das jeweils betrachtete Szenario. Als eine erste simulierte Komponente wurde eine KWK-Anlage untersucht und bezüglich der elektrischen, thermischen, mechanischen und chemischen Domänen modelliert. Das Gesamtmodell berücksichtigt das Verhalten des Verbrennungsmotors, des Synchrongenerators und der Wärmeübertrager. Mit Hilfe von Messgrößen einer realen KWK-Anlage wurde im Anschluss das Gesamtmodell validiert. Die generierten Simulationsergebnisse weisen eine gute Übereinstimmung mit den erhobenen Messdaten auf. Aktuell werden weitere Energiekomponenten untersucht, um Energiesysteme ganzheitlich optimieren zu können. Dieser Beitrag ist im Rahmen des vom Land NRW geförderten Forschungsschwerpunktes „Intelligente Energiesysteme (IES)“ im Projekt „Smart Energy Village“ entstanden.}}, author = {{Schulte, Thomas and Griese, Martin and Pawlik, Thomas and Maas, Jürgen}}, booktitle = {{Detmolder Bauphysiktag 2015}}, editor = {{Schwickert, Susanne}}, isbn = {{978-3-8440-3484-4}}, pages = {{117 -- 126}}, publisher = {{Shaker Verlag}}, title = {{{Smart Energy Village – Ein Forschungsansatz für die Energieversorgung der Zukunft}}}, volume = {{2015}}, year = {{2015}}, } @inproceedings{4039, abstract = {{Hardware-in-the-loop simulation of power electronic devices is growing in importance in diverse fields. For testing the electronic control units in automotive applications hardware-in-the-loop simulation is a today's standard method. It is also applied for many industrial applications like power converters and electric drives. Anyway real-time capable models of power electronics are required. In this contribution, a novel approach for real-time simulation of power electronic circuits comprising fast FPGA-based output models is presented. Two types of modeling circuits are described and compared to each other. Both methods do not fulfill the requirements of the novel approach to combine the advantages of the processor- and FPGA-based simulation. Hence, parts of both methods were combined. Additionally, the switching event detection was improved for low latency reaction and a correction method based on average control is described. The simulation results matches to the reference very well. Therefore the novel approach Is an interesting alternative for hardware-in-the-loop simulation when the algorithm of the electronic control unit requires a very fast reaction on switching events.}}, author = {{Kiffe, Axel and Brose, Manuel and Schulte, Thomas}}, booktitle = {{PCIM Europe, International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, 2013}}, isbn = {{978-1-62993-308-5}}, pages = {{1688 -- 1695}}, publisher = {{Curran Associates, Inc.}}, title = {{{Novel Approach for Real-time Simulation of Power Eiectronic Circuits Comprising Fast FPGA-based Output Modeis}}}, year = {{2015}}, } @inproceedings{4089, author = {{Pawlik, Thomas and Griese, Martin and Dohmann, Joachim and Maas, Jürgen and Schulte, Thomas}}, location = {{Antalya, Türkei}}, title = {{{Concept of a bidirectional Power-to-X Process System for technical and economical Investigations of Conversion and Storage Technologies}}}, year = {{2015}}, } @misc{3971, author = {{Schulte, Thomas}}, title = {{{Echtzeit-Schaltungssimulation}}}, year = {{2014}}, } @inproceedings{4002, abstract = {{Power electronic devices are growing in importance in automotive applications. Power converters are used in hybrid electric vehicles but also in other vehicle applications like electric steering systems for example. For testing electronic equipment, hardware-in-the-loop simulation is a today’s standard method in the automotive industry. Hardware-in-the-loop simulation requires a real-time capable model of the plant but the development of those models of power electronic circuits is still an ambitious task due to the switching of the semiconductors devices. Real-time simulation usually requires a fixed step-size which does not allow classic zero crossing detection algorithms. Depending on the chosen real-time platform, the minimum possible step-size of the real-time simulation is limited and requires special algorithms for an appropri-ate and precise simulation of these high dynamic systems. In this contribution, a hardware-in-the-loop simulation of a rectifier with power factor correction will be presented. First a short outline on modelling methods for real-time simulation of power electronics is given and an approach for determining the model as well as the necessary assumptions and simplifications are described. Finally, the hardware-in-the-loop bench is described and measurement results from the real plant and the simulation results are compared.}}, author = {{Kiffe, Axel and Schulte, Thomas}}, location = {{Berlin}}, title = {{{HIL Simulation of a Rectifier with Power Factor Correction}}}, year = {{2014}}, } @inproceedings{4008, abstract = {{Due to the increasing energy demand and shortage of fossil fuels, the energy systems will be transformed from mainly centralized into more decentralized systems, also incorporating more renewable energy. However, optimizing the control and structure of these systems is rather complex. A method for analyzing and planning of such systems is an adapted variant of the so called Hardware-in-the-Loop simulation. This approach comprises virtual energy components as models combined with data from experimental components. As a virtual energy component, a simulation model describing the physical behavior of CHP units is proposed in this contribution. The modeling approach is based on a time domain approach using state variables of the multiple domains to describe the dynamic behavior. For instance, the first law of thermodynamics is applied to model the thermal quantities. Furthermore, the model is scalable regarding the modeling depth and the power ratings which allows an application for different simulation scenarios. Finally, the overall model is parameterized and validated with data of a medium sized CHP plant.}}, author = {{Griese, Martin and Pawlik, Thomas and Schulte, Thomas and Maas, Jürgen}}, location = {{Istanbul}}, pages = {{189 -- 200}}, publisher = {{Academia.edu}}, title = {{{Scalable model of a CHP unit for HIL simulation of a smart combined grid system}}}, year = {{2014}}, } @article{4009, abstract = {{Virtual commissioning (VC) is used to test control code deployed on Programmable Logical Controllers. Simulation models of a plant are the core of any VC approach. Simulation models should represent the plant in a way so that the correct process execution can be tested under customers’ conditions. Simulation models of a plant are usually not built monolithically, but by many partial simulation models that represent the modules or components of the investigated plant. To ensure that the VC is efficient and provides helpful results, these partial simulation models can be implemented at different levels of detail, depending on the current test scenario. Usually, the definition of the modules’ and components’ level of detail is fixed. However, situations exist where more than one level of detail can be adequate. A dynamically adaptable level of detail seems beneficial to e. g. keep computing time at a reasonable level and to ensure meaningful results of the plants simulation model. However, no method or approach exists so far to handle a dynamically adaptable level of detail. This paper discusses potentials and challenges of a dynamically adaptable level of detail and shows possible solution contributions that could yield benefits for a VC approach.}}, author = {{Riediger, W. and Puntel-Schmidt, P. and Köslin, F. and Schulte, Thomas}}, issn = {{2196-677X }}, journal = {{at - Automatisierungstechnik}}, number = {{2}}, pages = {{111 -- 120}}, publisher = {{DeGruyter}}, title = {{{Validierung von Steuerungscode mit Hilfe automatisch generierter Simulationsmodelle}}}, volume = {{63}}, year = {{2014}}, } @article{4010, author = {{Riediger, W. and Puntel-Schmidt, P. and Köslin, F. and Schulte, Thomas}}, journal = {{SPS IPC Drives }}, publisher = {{Springer-VDI-Verl.}}, title = {{{Hardware-in-the-Loop-Simulation fertigungstechnischer Anlagen}}}, year = {{2014}}, } @inproceedings{4011, abstract = {{Hybrid electric powertrains are developed for reducing the fuel consumption and consequently the emission of carbon dioxide. The fuel consumption of those systems depends significantly on the topology of the powertrain and the applied control strategy. Hardware-in-the-Loop simulation can be used for improving the control strategy, where a real-time model of the powertrain with accurate consideration of the power losses is required. Developing those models is a time-consuming task due to the high dynamics and switching frequencies of the electrical subsystem and the various configurations of the mechanical subsystem. In this contribution methods for an efficient modeling of transmission systems and electric drives are presented. Real-Time capability as well as the correct power flows and losses are considered. Finally, simulation results are shown.}}, author = {{Geng, Stefan and Brose, M. and Schulte, Thomas}}, booktitle = {{2014 IEEE Vehicle Power and Propulsion Conference (VPPC)}}, location = {{Coimbra}}, pages = {{1 -- 8}}, publisher = {{IEEE}}, title = {{{Correct Power Flow and Losses in Real-Time Simulation of HEV Powertrains}}}, year = {{2014}}, } @article{4013, abstract = {{Der Simulation kommt im Rahmen einer durchgehenden digitalen Fabrikplanung immer größere Bedeutung zu. Eine Möglichkeit, die Qualität sowie Termintreue bei der Erstellung von automatisierten fertigungstechnischen Anlagen sicherzustellen, stellt die Absicherung des Steuerungscodes mit einer virtuellen Inbetriebnahme (VIBN) dar. Jedoch ist der für eine VIBN zwingend notwendige Modellbildungsprozess oftmals mit hohen Aufwänden verbunden, die das Einsparpotential einer VIBN oftmals übertreffen und dem Nutzen einer Simulation insgesamt entgegenstehen. Eine mögliche Lösung könnte die automatische Simulationsmodellgenerierung fertigungstechnischer Anlagen sein. Der vorliegende Beitrag zeigt, wie aus Anlagenstrukturdaten, dargestellt im objektorientiert aufgebauten Datenaustauschformat AutomationML, Simulationsmodelle fertigungstechnischer Anlagen in der objektorientierten Modellierungssprache Modelica automatisch generiert werden können. Das generierte Modell läuft anschließend auf einer auf einem Standard-PC basierenden Hardware-in-the-Loop-Plattform und wird mit der mit der realen Steuerung verbunden, so dass diese virtuell in Betrieb genommen werden kann. Beispielhaft wird die VIBN einer unstetigen Fördertechniklösung als typisches Beispiel einer fertigungstechnischen Anlage gezeigt.}}, author = {{Puntel-Schmidt, P. and Fay, A. and Riediger, W. and Schulte, Thomas and Köslin, F. and Diehl, S.}}, issn = {{2405-8963}}, journal = {{IFAC-PapersOnLine}}, number = {{10}}, pages = {{69 -- 74}}, publisher = {{Elsevier}}, title = {{{Validierung von Steuerungscode fertigungstechnischer Anlagen mit Hilfe automatisch generierter Simulationsmodelle}}}, volume = {{48}}, year = {{2014}}, } @article{4003, abstract = {{Hybrid electric powertrains are developed for reducing the fuel consumption and the emission of carbon dioxide. In order to support this aim, the applied control strategy can be improved by testing and developing the electronic control units by means of Hardware-in-the-Loop simulation. For the simulation, a corresponding real-time model of the powertrain is required. The development of the model is a time-consuming task due to the high dynamics and switching frequencies in the electrical subsystem, comprising the electric drives, inverter and battery and due to the various configurations of the mechanical subsystem, comprising the transmissions. In this contribution, a method for an efficient modeling of different transmission configurations for power-split systems and different types of inverter is presented. Besides the required real-time capability, the models consider the correct power flows and power losses. The presented approach is proven by means of simulation results.}}, author = {{Geng, Stefan and Schulte, Thomas}}, issn = {{2405-8963}}, journal = {{IFAC Proceedings Volumes}}, location = {{Tokyo}}, number = {{21}}, publisher = {{Elsevier Science}}, title = {{{Real-Time Models of Hybrid Electric Vehicle Powertrains}}}, volume = {{46}}, year = {{2013}}, } @inproceedings{4004, abstract = {{Power electronic devices are important in almost all industrial sectors. Power converters are used for electric drive systems in the production of an automation industry, in the automotive industry, as power supplies in telecommunications or for power conversion in power supply systems. For testing such electronic equipment, hardware-in-the-loop simulation is almost a standard method today, especially in the automotive industry, which always requires a real-time simulation of the plant. For testing the electronic control units of power electronics, real-time capable models of power electronic circuits need to be developed, accordingly. In the previously published contribution [10] different modeling methods were described and an algorithm was developed, which can be used to simulate power electronic circuits in real-time. Based on this algorithm and the automated generation of such models ([10]), further improvements for reducing the memory usage, increasing the degree of parallelization and improving accuracy are described in this paper. However, the presented approaches and modifications as well as the studies on correction methods for switching events and the preprocessing can be applied to other algorithms.}}, author = {{Kiffe, Axel and Riediger, W. and Schulte, Thomas}}, location = {{Lile, France}}, pages = {{1 -- 10}}, publisher = {{IEEE}}, title = {{{Advanced Preprocessing and Correction-Methods for automated Generation of FPGA-based Simulation of Power Electronics}}}, year = {{2013}}, } @inbook{4005, abstract = {{Hardware-in-the-loop simulation of power electronic devices is growing in importance in diverse fields. For testing the electronic control units in automotive applications hardware-in-the-loop simulation is a today's standard method. It is also applied for many industrial applications like power converters and electric drives. Anyway real-time capable models of power electronics are required. In this contribution a novel approach is presented, which applies simplified and FPGA-based output models for significantly improving the feedback dynamics of a hardware-in-the-loop simulation of power electronic devices.}}, author = {{Kiffe, Axel and Brose, M. and Schulte, Thomas}}, booktitle = {{International Exhibition & Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management (PCIM Europe 2013) }}, isbn = {{978-1-62993-308-5 }}, location = {{Nuremburg, Germany }}, pages = {{1688 -- 1695}}, publisher = {{Curran Associates, Inc.}}, title = {{{Novel Approach for Real-time Simulation of Power Electronic Circuits Comprising Fast FPGA-based Output Models}}}, volume = {{1}}, year = {{2013}}, } @inproceedings{3973, author = {{Schulte, Thomas and Puschmann, F. and Kiffe, Axel}}, location = {{Nürnberg}}, publisher = {{VDE-Verlag}}, title = {{{Leistungselektronikmodelle für Hardware-in-the-Loop-Simulation}}}, year = {{2012}}, } @inproceedings{3974, abstract = {{Hybrid electric powertrains are developed for reducing the fuel consumption and the emission of carbon dioxide. In order to support this aim, the applied control strategy can be improved by testing and developing the electronic control units by means of Hardware-in-the-Loop simulation. For the simulation, a corresponding real-time model of the powertrain is required. The development of the model is a time-consuming task due to the high dynamics and switching frequencies in the electrical subsystem, comprising the electric drives, inverter and battery and due to the various configurations of the mechanical subsystem, comprising the transmissions. In this contribution, a method for an efficient modeling of different transmission configurations for power-split systems and different types of inverter is presented. Besides the required real-time capability, the models consider the correct power flows and power losses. The presented approach is proven by means of simulation results.}}, author = {{Geng, Stefan and Schulte, Thomas}}, location = {{West Yorkshire (Großbritannien)}}, title = {{{Real-Time Models of Hybrid Powertrain Transmissions}}}, year = {{2012}}, } @inproceedings{3975, abstract = {{Power electronic devices are growing in importance in automotive applications. Power converters are used in hybrid electric vehicles but also in other vehicle applications like electric steering systems. For testing electronic equipment, hardware-in-the-loop simulation is a today's standard method in the automotive industry. It always requires a real-time simulation of the plant. For testing the electronic control units of power electronics, real-time capable models of power electronic circuits need to be developed, accordingly. This paper presents an approach for an automated generation of a FPGA-based oversampling model of power electronic circuits. Two types of modeling methods for considering the nonlinear switching behavior will be compared. For applying the oversampling approach a generator is presented, which automates a FPGA-based implementation of the circuit model. The approach is proven by simulation and measurement results.}}, author = {{Kiffe, Axel and Geng, Stefan and Schulte, Thomas}}, booktitle = {{2012 Proceedings of the 15th IEEE Holm Conference on Electrical Contacts}}, location = {{Novi Sad (Serbien)}}, publisher = {{IEEE}}, title = {{{Automated Generation of a FPGA-based Oversampling Model of Power Electronic Circuits }}}, year = {{2012}}, } @inproceedings{3997, author = {{Kiffe, Axel and Geng, S. and Schulte, Thomas}}, location = {{Duisburg}}, publisher = {{Springer Fachmedien GmbH}}, title = {{{Herausforderung der HIL-Simulation für Hybrid- und Elektrofahrzeuge}}}, year = {{2012}}, } @article{4006, abstract = {{Hardware-in-the-loop simulation is today a standard method for testing electronic equipment in the automotive industry. Since electric drives and power electronic devices are more and more important in automotive applications, these kinds of systems have to be integrated into the hardware- in-the-loop simulation. Power converters and electric drives are used in many different applications in vehicles today (hybrid electric or electric powertrain, electric steering systems, DC-DC converters, etc.). The wide range of applications, topologies, and power levels results in various different approaches and solutions for hardware-in-the-loop testing. This paper gives an overview of hardware-in-the-loop simulation of power electronics and electric drives in the automotive industry. The currently available technologies are described and future challenges are outlined.}}, author = {{Schulte, Thomas and Kiffe, Axel and Puschmann, F.}}, issn = {{1450-5843}}, journal = {{ELECTRONICS}}, number = {{2}}, pages = {{130 -- 135}}, publisher = {{Faculty of Electrical Engineering, University of Banja Luka }}, title = {{{HIL Simulation of Power Electronics and Electric Drives for Automotive Applications}}}, volume = {{16}}, year = {{2012}}, } @inproceedings{4007, author = {{Geng, Stefan and Schulte, Thomas}}, location = {{Brussels}}, title = {{{Hybrid Powertrain Transmission Models for HIL-Simulation}}}, year = {{2012}}, } @article{4041, abstract = {{This paper describes challenges and possible solution of hybrid electrical vehicles test systems with a special focus on hardware-in-the-loop (HIL) test bench. The degree of novelty of this work can be seen in the fact that development and test of ECU for hybrid electrical powertrains can move more and more from mechanical test benches with real automotive components to HIL test systems. The challenging task in terms of electrical interface between an electric motor ECU and an HIL system and necessary real-time capable simulation models for electric machines have been investigated and partly solved. Even cell balancing strategies performed by battery management systems (BMU) can be developed and tested using HIL technology with battery simulation models and a precise cell voltage simulation on electrical level.}}, author = {{Schulte, Thomas and Schulze, Tino and Sauer, Jörg}}, issn = {{0148-7191}}, journal = {{SAE 2011 World Congress & Exhibition, April 2011}}, title = {{{Hybrid Drivetrain Simulation for Hardware-in-the-Loop Applications}}}, year = {{2011}}, } @inproceedings{4042, abstract = {{Using electric motors for complex and increasingly safety-critical functions in vehicles re-quires comprehensive testing to be performed during system development. This applies above all to the innovative drive concepts used in hybrid and electrical vehicles. Hardware-in-the-loop simulation has become a standard method for testing the software functions for these. There are various interfaces that are suitable for connecting the electronic control unit to the hardware-in-the-loop simulator for systems with electric drives. Test systems that reproduce the physical electrical signals (currents and voltages) at the ECU connectors are also increasingly required. This paper presents several concepts for simulating electric drives by means of electronic load emulation. Particular attention is paid to simulating high-power (> 10 kW) and high-voltage (> 100 V) electric drives.}}, author = {{Schulte, Thomas and Bracker, Jörg}}, booktitle = {{IFAC Symposium “Advances in Automotive Control (AAC 2010)}}, location = {{München}}, title = {{{Real-Time Simulation of Electric Drives by Electronic Load Emulation}}}, year = {{2011}}, } @article{4043, abstract = {{Die zukünftig zunehmende Elektrifizierung des Antriebsstrangs erfordert die Entwicklung neuer elektrischer Antriebs- und Regelungskonzepte. Die hierfür notwendigen Steuergeräte und Regelalgorithmen werden deutlich komplexer. Tests der neuen innovativen Technologien an Prüfständen und Prototypfahrzeugen sind kosten- und zeitaufwändig. Deshalb setzen die Entwickler während der gesamten Entwicklung modellbasierte Entwicklungsverfahren ein. Für den Test der Steuergeräte und insbesondere ihrer Software hat sich dabei die Hardware-in-the-Loop (HIL)-Simulation sowohl bei den Zulieferern als auch bei den Fahrzeugherstellern als Standardwerkzeug in der Elektronikentwicklung etabliert.}}, author = {{Schulte, Thomas and Plöger, Markus and Holthaus, Nils}}, issn = {{0939-5326}}, journal = {{Automobil-Elektronik : das Automotive-Magazin von all-electronics}}, number = {{1}}, pages = {{46 -- 47}}, publisher = {{Hüthig}}, title = {{{E-Motoren : Hardware-in-the-Loop-Test mit voller Leistung}}}, year = {{2011}}, } @inbook{4045, abstract = {{Moderne Industrieantriebe beinhalten unterschiedliche durch den Benutzer konfigurierbare Funktionen. Darüber hinaus sind mit lediglich einer Typenserie eine bemerkenswerte Zahl von Kombinationen aus Leistungsendstufen. Motoren, Sensoren und Kommunikationsschnittstellen mögHch. Trotzdem werden heute sehr hohe Anforderungen an die Zuverlässigkeit und Sicherheit der Systeme gestellt. wobei die dazu notwendigen umfangreichen Tests des vollständigen Funktionsumfangs unter unterschiedlichen Randbedingungen extrem zeit-und kostenintensiv sind. Die Hardware-in-the-Loop-Simulation (HIL) wird bereits seit mehreren Jahren erfolgreich für Tests automotiver Steuergeräte eingesetzt und kann auch im Bereich der industriellen Antriebstechnik zu einer signifikanten Kostensenkung beitragen. HIL-Simulation ermöglicht automatisiertes Testen mit reproduzierbaren, zuverlässigen Ergebnissen. Das modellbasierte Testen eröffnet außerdem eine gegenüber mechanischen Prüfständen extrem hohe Flexibilität und ermöglicht Tests in ansonsten kritischen Betriebszuständen. Dieser Beitrag stellt unterschiedliche Vorgehensweisen für die Hardware-in-theLoop- Simulation von elektrischen Antrieben dar. die bei den notwendigen Tests eine effiziente Kostensenkung ermöglichen. Sie werden bereits erfolgreich für automotive Anwendungen wie z. B. Hybrid-Fahrzeuge eingesetzt. lassen sich aber auch sehr gut auf Industrieantriebe übertragen.}}, author = {{Schulte, Thomas and Puschmann, Frank and Wertz, Harald}}, booktitle = {{Elektrische Automatisierung - Systeme und Komponenten : SPS/IPC/Drives 2010, Fachmesse & Kongress, 23. - 25. Nov. 2010, Nürnberg ; [Tagungsband] }}, isbn = {{ 9783800733125}}, location = {{Nürnberg}}, pages = {{215 -- 223}}, publisher = {{VDE-Verlag}}, title = {{{Hardware-in-the-loop-Simulation für elektrische Antriebssysteme}}}, year = {{2011}}, } @inproceedings{4068, abstract = {{Die Nutzung früher Patente zur elektrisch/elektrischen Energieumwandlung mittels piezoelektrischen Effekts (z. B. Rosen-Transformator, 1958, s [1]) scheiterte letzlich an den fehlenden technologischen Voraussetzungen sowohl seitens der piezoelektrischen Werkstoffe als auch seitens der leistungselektronischen Bauelemente für hohe Schaltfrequenzen. Erst seit Mitte der 80er-Jahre konnten mit PZT-Keramiken (PZT: BLeizironat-Titanit) erflogreich piezowlektrische Transformatoren entwickelt werden. und seit etwa der Mitteder 90er Jahre angewendet werden. Durch die intensive Forschung und Weiterentwicklung im Bereich der piezoelektrischen Wandler sowie im Bereich der Leistungselektronik und ihrer Komponenten erscheinen pizoelektrische Transformatoren heute bei einer Vielzahl von typischen leistungselektronischen Anwendungen als geeingnete Alternative zu herkömmlichen Transformatoren. Dieser Aufastz beinhaltet eine Zusammenfassung des Stades der Technik und Entwicklungsperspektiven piezoelektrischer Transformatoren aus leistungselektrischer Sicht.}}, author = {{Schulte, Thomas and Kauczor, Christopher and Grotstollen, Horst}}, title = {{{Piezoelektrische Transformatoren- Schaltungen und Anwendungen}}}, year = {{2011}}, } @misc{3972, author = {{Schulte, Thomas}}, title = {{{Schaltung zur Nachbildung einer elektrischen Last}}}, year = {{2010}}, } @article{4047, abstract = {{Die aus derAutomobilelektronik bekannte Hardware-in-the-Loop-SimulationzumTesten der Hard-und SoftwarevonSteuergeräfen hält nun auch Einzug in die Testlabare der Herste/lervon elektrischen Antrieben. HILSimulation bedeutet hier, dass einer zu testenden Serienrege/einrichtung eine nicht real vorhandene Rege/strecke über ein Echtzeitsystem mit entsprechender Peripherie simuliert wird. Der damit erreichte Automatisierungsgrad bei der Durchführung von Softwajetests erschließt erhebliche Einsparpotentiafe und ermöglicht kürzere Entwicklungszeiten.}}, author = {{Schulte, Thomas and Wertz, Harald}}, issn = {{0341-2652}}, journal = {{Antriebstechnik}}, number = {{5}}, pages = {{16 -- 19}}, publisher = {{Vereinigte Fachverl.}}, title = {{{Im virtuellen Testlabor : Echtzeitsimulation von Antrieben eraffnet Einsparpotentiale}}}, year = {{2010}}, } @article{3998, abstract = {{Die Hardware-in-the-Loop-Simulation (HiL) zählt als ein Standardwerkzeug in der Elektronikentwicklung, wobei sich der Test am HiL-Simulator vom Test einzelner Funktionen über den Komponententest bis hin zum Integrationstest ganzer Steuergeräte-Netzwerke erstreckt. Bei der HiL-Simulation werden dem zu testenden Steuergerät Sensorsignale vorgegeben, die in Echtzeit aus einem dynamischen Simulationsmodell der Steuergeräteumgebung erzeugt werden. Die Steuergeräte-Ausgangssignale als Reaktion auf die Eingangssignale dienen dem Echtzeit-Modell als Eingangsgrößen, wodurch das Steuergerät am Labortisch so betrieben werden kann, als wäre es im echten Fahrzeug eingebaut. Die HiL-Simulation wird hier auf mechatronische Steuergeräte angewandt, bei denen Sensoren und/oder Aktoren integriert sind. Die HiL-Simulation für die elektrische Servolenkung wird auf einem mechanischen Prüfstand mit Belastungseinrichtung und auf elektrischer Leistungsebene für Software und elektrische Funktion des Lenksystems vorgenommen. Für die Prüfung eines ESP-Steuergeräts wird eine 3D-Bewegungsplattform verwendet, auf deren Basis der interne Sensorcluster mechanisch stimuliert werden kann. über eine Verkopplung des Prüfstandes an ein HiL-System mit Fahrdynamikmodell kann eine physikalisch richtige Simulation des Fahrmanövers vorgenommen werden.}}, author = {{Schulte, Thomas and Plöger, M. and Filgerdamm, A.}}, isbn = {{1614-0125}}, journal = {{Elektronik automotive}}, number = {{3}}, publisher = {{WEKA Fachmedien}}, title = {{{Mechatronik-Test: HiL-Simulation für mechatronische Systeme aus den Bereichen Fahrdynamik und elektrische Servolenkung}}}, year = {{2009}}, } @article{4049, abstract = {{Die Hardware-in-the-Loop-Simulation (HiL) zählt als ein Standardwerkzeug in der Elektronikentwicklung, wobei sich der Test am HiL-Simulator vom Test einzelner Funktionen über den Komponententest bis hin zum Integrationstest ganzer Steuergeräte-Netzwerke erstreckt. Bei der HiL-Simulation werden dem zu testenden Steuergerät Sensorsignale vorgegeben, die in Echtzeit aus einem dynamischen Simulationsmodell der Steuergeräteumgebung erzeugt werden. Die Steuergeräte-Ausgangssignale als Reaktion auf die Eingangssignale dienen dem Echtzeit-Modell als Eingangsgrößen, wodurch das Steuergerät am Labortisch so betrieben werden kann, als wäre es im echten Fahrzeug eingebaut. Die HiL-Simulation wird hier auf mechatronische Steuergeräte angewandt, bei denen Sensoren und/oder Aktoren integriert sind. Die HiL-Simulation für die elektrische Servolenkung wird auf einem mechanischen Prüfstand mit Belastungseinrichtung und auf elektrischer Leistungsebene für Software und elektrische Funktion des Lenksystems vorgenommen. Für die Prüfung eines ESP-Steuergeräts wird eine 3D-Bewegungsplattform verwendet, auf deren Basis der interne Sensorcluster mechanisch stimuliert werden kann. über eine Verkopplung des Prüfstandes an ein HiL-System mit Fahrdynamikmodell kann eine physikalisch richtige Simulation des Fahrmanövers vorgenommen werden.}}, author = {{Schulte, Thomas and Plöger, Markus and Filgerdamm, Andreas}}, issn = {{0013-5658}}, journal = {{Elektronik automotive : Magazin für Entwicklungen in der Kfz-Elektronik und Telematik}}, number = {{3}}, pages = {{36 -- 39}}, publisher = {{WEKA}}, title = {{{Mechatronik-Test : HiL-Simulation für mechatronische Systeme aus den Bereichen Fahrdynamik und elektrische Servolenkung.}}}, year = {{2009}}, } @inproceedings{4051, abstract = {{This paper presents a hardware-in-the-loop simulation system for simulating BLDC motors. The test bench combines two key technologies; first an electric motor simulation on the electric interface level, which is not only based on control signals but also emulates real currents and voltages; secondly an FPGA-based (field-programmable gate array) electric motor model. The overall simulation concept represents a comprehensive simulation of the electric motor, which is therefore suitable for running controllers incorporating sensorless motor control. Thus it enables integrated hardware-in-the-loop testing for control units which could formerly only be tested by means of mechanical test benches.}}, author = {{Schulte, Thomas and Bracker, J.}}, pages = {{2195 -- 2200}}, publisher = {{IEEE}}, title = {{{Real-time simulation of BLDC motors for hardware-in-the-loop applications incorporating sensorless control}}}, year = {{2008}}, } @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}}, } @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}}, } @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}}, } @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}}, }