Roland Kasper - Academia.edu (original) (raw)

Papers by Roland Kasper

Research paper thumbnail of Interactive Optimization of Controller and Plant Parameters in the Case of Multiple Design Objectives

IFAC Proceedings Volumes, Jul 1, 1985

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Research paper thumbnail of Analytical magnetic circuit design optimization of electrical machines with air gap winding using a Halbach array

This paper aims to analyze the influence of a Halbach array by using a semi analytical design opt... more This paper aims to analyze the influence of a Halbach array by using a semi analytical design optimization approach on a novel electrical machine design with slotless air gap winding. The useable magnetic flux density caused by the Halbach array magnetization is studied and compared to conventional radial magnetization systems. First, several discrete magnetic flux densities are analyzed for an infinitesimal wire size in an air gap range from 0.1 mm to 5 mm by the finite element method in Ansys Maxwell. Fourier analysis is used to approximate continuous functions for each magnetic flux density characteristic for each air gap height. Then, using a six-step commutation control, the magnetic flux acting on a certain phase geometry is considered for a parametric machine model. The design optimization approach utilizes the design freedom of the magnetic flux density shape in air gap as well as the heights and depths of all magnetic circuit components, which are stator and rotor cores, permanent magnets, air gap, and air gap winding. Use of a nonlinear optimization formulation, allows for fast and precise analytical calculation of objective function. In this way the influence of both magnetizations on Pareto optimal machine design sets, when mass and efficiency are weighted, are compared. Other design requirements, such as torque, current, air gap and wire height, are considered via constraints on this optimization. Finally, an optimal motor design study for the Halbach array magnetization pattern is compared to the conventional radial magnetization. As a reference design, an existing 15-inch rim wheel-hub motor with air gap winding is used.

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Research paper thumbnail of Multilayer air gap winding designs for electric machines: theory, design, and characterisation

The Journal of Engineering, Apr 4, 2019

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Research paper thumbnail of Order reduction with partial ARMA-modeling

In this paper a new method for order reduction of large FE-models is presented. Many order reduct... more In this paper a new method for order reduction of large FE-models is presented. Many order reduction methods known from the literature fail when they are applied to large parametric models. The method proposed here is based on numerical data. Therefore this method can be seen as an identification method as well. The reduced system is represented by a difference equation and the parameters are determined in a two-step procedure. Time delays in the original system may be detected. Theoretical as well as real technical systems are used as examples to demonstrate the application of the new method.

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Research paper thumbnail of Design and validation of a multi-body model of a front suspension bicycle and a passive rider for braking dynamics investigations

Multibody System Dynamics, Jun 1, 2017

The global spread of Electric Bicycles (EBs) is increasing more and more. In addition to supporti... more The global spread of Electric Bicycles (EBs) is increasing more and more. In addition to supporting the ease of cycling, the electric energy available can also be used for innovative braking control systems. The project BikeSafe picks up on this idea and aims at developing an active Braking Dynamics Assistance system (BDA) for EBs equipped with hydraulic brakes. A simulation model taking into account all substantial braking dynamics influences is necessary for the model-based design of the BDA. This paper presents a Multi-Body Model (MBM) of a front suspension bicycle and a passive rider. This MBM has been experimentally validated for in-plane braking dynamics using road tests. It has real-time ability and can therefore be used as a virtual representation of the plant for the model-based design process of the BDA.

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Research paper thumbnail of Optimisation-Based Power Management System for an Electric Vehicle with a Hybrid Energy Storage System

International Journal of Automotive and Mechanical Engineering, Dec 24, 2018

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Research paper thumbnail of Objectoriented control engineering tool system

In this paper a control engineering tool system currently under development at the Robert Bosch G... more In this paper a control engineering tool system currently under development at the Robert Bosch GmbH Central Research Laboratory is presented. It combines all tools necessary to support modelling, design and implementation of control systems. Resigned as an integrated system it avoids current problems of incompatible dataformats, different userinterfaces and a variety of command languages. Special features are a blockoriented representation of models and design methods, a graphical userinterface and realtime simulation capabilities. A hierarchical modelling approach allows breaking down complex systems into managable components. The userinterface is written in SMALLTALK, a language based on the objectoriented paradigm. Its windowing features support editing blockdiagrams, handling databases and controlling realtime simulation interactively. A configurable network of Transputer5 provides sufficient Computing power and communication bandwidth to simulate large problems in realtime. -

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Research paper thumbnail of Experimental Validation of a GPS-Aided Model-Based UKF Vehicle State Estimator

Exact knowledge of the vehicle states in severe driving situations is essential for vehicle dynam... more Exact knowledge of the vehicle states in severe driving situations is essential for vehicle dynamics control. Uncertain road conditions and limited availability of measurements make the vehicle state estimation a difficult task. For this, an Unscented KalmanFilter (UKF) can be used, as it is suitable to work with nonlinear systems and time-varying parameters. In this article, an approach for an adaptive, UKF-based state estimator for an all-wheel drive electric vehicle is presented. The estimator provides combined estimation of longitudinal und lateral vehicle velocities and tire slip as well as individual tire-friction coefficients at each wheel. Furthermore, utilization of GPS speed measurement is considered. Validation is carried out during vehicle experiments featuring severe driving manoeuvres on different road conditions, where unknown disturbances and real-world measurement errors are present. Results with and without GPS measurements are compared.

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Research paper thumbnail of Combined Optimal Torque and Modal Current Control for Low Inductance PM Motor

Innovative extreme lightweight electric motor designs exploiting the advantages of air-gap windin... more Innovative extreme lightweight electric motor designs exploiting the advantages of air-gap windings depend on a B-field with higher harmonics and have only very small phase inductances in the range of several mumathbfH\mu \mathbf{H}mumathbfH. Besides the advantages of a very small electrical time constant and the opportunity of very fast current control, the demands on sampling time and PWM switching frequency are very high, which leads to increased losses and higher hardware cost. This paper proposes an optimal torque control method reducing motor losses combined with a very robust and computation efficient modal current control. Compared to well-known DQ control methods, proposed strategy reduces motor losses significantly and offers a very fast implementation on a standard microcontroller. The accuracy of the control method was tested experimentally on a wheel-hub motor built with a slotless air-gap winding and low inductance using a standard microcontroller and GaN Power Devices. The proposed method was validated by comparison of simulation and experimental results on one hand and by comparison to conventional DQ control on the other.

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Research paper thumbnail of Optimization of a multiphase interleaved buck converter based on electromagnetic processes in its elements

In this paper we propose the method for optimizing the multiphase interleaved buck/boost converte... more In this paper we propose the method for optimizing the multiphase interleaved buck/boost converter by reducing weight and simultaneously total losses in converter, taking into account the electromagnetic properties of the coils given the parameters of input voltage, output current and switching frequency. The optimization algorithm allows estimating the required values of the coil parameters, which will accurately describe the behavior of the current in the coils of converter and will prevent saturation in them. The algorithm can be adapted to any geometry of the coils and any number of phases in the interleaved converter. The accuracy of the algorithm was tested in practice. The method of using the algorithm is given on the example of optimization of a three-phase converter with toroidal coils with an input voltage of 60 V, a nominal current of 150A, and a switching frequency of 75 kHz.

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Research paper thumbnail of Interactive Optimization of Controller and Plant Parameters in the Case of Multiple Design Objectives

Bookmarks Related papers MentionsView impact

Research paper thumbnail of 13. Magdeburger Maschinenbau-Tage 2017 - autonom - vernetzt - nachhaltig, 27. und 28. September 2017 : Tagungsband

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Research paper thumbnail of Grundlagen eines instrumentellen Verfahrens zum Entwurf von Mehrgrößenregelungen / Basic principles of an instrumental method for multivariable controller design

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Es wird ein iteratives Verfahren zum Entwurf von Mehrgrosenregelungen auf der Basis einer Empfind... more Es wird ein iteratives Verfahren zum Entwurf von Mehrgrosenregelungen auf der Basis einer Empfindlichkeitsbetrachtung der einzelnen Entwurfsziele bezuglich Anderungen der Reglerparameter vorgestellt. Die Reglerstruktur ist frei vorgebbar und kann in Abwagung des entstehenden Realisierungsaufwands und der mit einem bestimmten Regler erreichbaren Regelgute festgelegt werden. Der Entwurfsablauf ist darauf abgestimmt, in einem interaktiven Prozes die vorgegebenen Entwurfsforderungen gezielt schrittweise zu erfullen. Fur die Optimierung von Eigenwerten und Streuungen stochastisch erregter linearer Systeme werden die theoretischen Grundlagen des Verfahrens ausfuhrlich erlautert. Abschliesend wird seine Anwendung am Entwurf verschiedener Regler fur ein aktives elektro-hydr aulische s Federbein eines Kraftfahrzeugs verdeutlicht. An iterative methodfor the design of multi-variable controllers on the basis of a sensitivity investigation of the individual design goals with respect to changes in the controller parameters is presented. The controller structure may arbitrarily be chosen and can be specified considering the realisation effort and the control quality, which can be achieved with a specific controller. The design procedure is such that in an iterative process the given design targets are fulfilled step by step. The theoretical foundations of the method are explained in details for the optimization of eigenvalues and the control of stochastically disturbed linear systems. Finally the application is illustrated with the design of different controllers for an active electrohydraulic spring support of a motor vehicle.

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Research paper thumbnail of Objectoriented Modelling and Simulation of Mechatronic Systems

Solid Mechanics and Its Applications, 1997

In many technical applications mechatronic products offer superior functionality and improved fle... more In many technical applications mechatronic products offer superior functionality and improved flexibility by integrating features of mechanical, electronic and control systems into one device. But traditional design and modelling methods well known for mechanical, electronic and control systems do not support a complete interdisciplinary design process.

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Research paper thumbnail of Hierarchisches Konzept zur Fahrdynamikregelung für Elektrofahrzeuge mit Einzelradantrieben

at - Automatisierungstechnik, 2017

Zusammenfassung Der Einsatz elektrischer Einzelradantriebe in Kraftfahrzeugen eröffnet auf Grund ... more Zusammenfassung Der Einsatz elektrischer Einzelradantriebe in Kraftfahrzeugen eröffnet auf Grund der Möglichkeit der schnellen und genauen radindividuellen Stellung positiver und negativer Drehmomente neue Potenziale für die Fahrdynamikregelung. Hierdurch wird eine Regelung des Reifenlängsschlupfes an jedem Rad mit hoher Dynamik und Genauigkeit sowie eine höhere Energieeffizienz ermöglicht, die mit konventionellen Eingriffen des Bremssystems nicht umsetzbar ist. Damit eine darauf aufbauende Regelung der Fahrzeugdynamik diese Vorteile konsequent ausnutzen kann, wird in diesem Beitrag ein hierarchisches Konzept zur Fahrdynamikregelung vorgestellt, das eine Unterteilung der Beobachtungs- und Regelungsstruktur auf Rad- und Fahrzeugebene vorsieht.

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Research paper thumbnail of A Practical Control Concept for the Active Suspension of Road Vehicles

IFAC Proceedings Volumes, 1987

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Research paper thumbnail of A exible interface for linking applications to Penman''s sentence genera-tor

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Research paper thumbnail of Miniaturized actuators for optical functions in medical videoscopes

Biomedical Engineering / Biomedizinische Technik, 2012

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Research paper thumbnail of Hydraulic Valve with Integrated Piezoelectric Drive

IFAC Proceedings Volumes, 2000

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Research paper thumbnail of New Mathematical Approach for Eddy Current Loss in Air-Gap-Windings in a PMSM

2019 IEEE 13th International Conference on Power Electronics and Drive Systems (PEDS), 2019

In this paper, a new mathematical approach for calculation of Eddy Current Losses in Air-Gap-Wind... more In this paper, a new mathematical approach for calculation of Eddy Current Losses in Air-Gap-Windings is introduced. Based on magnetic field simulations in ANSYS Maxwell of the PMSM, developed at Otto-von-Guericke-University Magdeburg, the magnetic flux through the winding is estimated. The calculation of the losses is realized by using differential small conductor loops representing the flow of the eddy current inside the copper windings. The approach is validated and compared with measured eddy current loss from two different PMSM with Air-Gap-Winding.

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Research paper thumbnail of Interactive Optimization of Controller and Plant Parameters in the Case of Multiple Design Objectives

IFAC Proceedings Volumes, Jul 1, 1985

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Research paper thumbnail of Analytical magnetic circuit design optimization of electrical machines with air gap winding using a Halbach array

This paper aims to analyze the influence of a Halbach array by using a semi analytical design opt... more This paper aims to analyze the influence of a Halbach array by using a semi analytical design optimization approach on a novel electrical machine design with slotless air gap winding. The useable magnetic flux density caused by the Halbach array magnetization is studied and compared to conventional radial magnetization systems. First, several discrete magnetic flux densities are analyzed for an infinitesimal wire size in an air gap range from 0.1 mm to 5 mm by the finite element method in Ansys Maxwell. Fourier analysis is used to approximate continuous functions for each magnetic flux density characteristic for each air gap height. Then, using a six-step commutation control, the magnetic flux acting on a certain phase geometry is considered for a parametric machine model. The design optimization approach utilizes the design freedom of the magnetic flux density shape in air gap as well as the heights and depths of all magnetic circuit components, which are stator and rotor cores, permanent magnets, air gap, and air gap winding. Use of a nonlinear optimization formulation, allows for fast and precise analytical calculation of objective function. In this way the influence of both magnetizations on Pareto optimal machine design sets, when mass and efficiency are weighted, are compared. Other design requirements, such as torque, current, air gap and wire height, are considered via constraints on this optimization. Finally, an optimal motor design study for the Halbach array magnetization pattern is compared to the conventional radial magnetization. As a reference design, an existing 15-inch rim wheel-hub motor with air gap winding is used.

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Research paper thumbnail of Multilayer air gap winding designs for electric machines: theory, design, and characterisation

The Journal of Engineering, Apr 4, 2019

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Research paper thumbnail of Order reduction with partial ARMA-modeling

In this paper a new method for order reduction of large FE-models is presented. Many order reduct... more In this paper a new method for order reduction of large FE-models is presented. Many order reduction methods known from the literature fail when they are applied to large parametric models. The method proposed here is based on numerical data. Therefore this method can be seen as an identification method as well. The reduced system is represented by a difference equation and the parameters are determined in a two-step procedure. Time delays in the original system may be detected. Theoretical as well as real technical systems are used as examples to demonstrate the application of the new method.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Design and validation of a multi-body model of a front suspension bicycle and a passive rider for braking dynamics investigations

Multibody System Dynamics, Jun 1, 2017

The global spread of Electric Bicycles (EBs) is increasing more and more. In addition to supporti... more The global spread of Electric Bicycles (EBs) is increasing more and more. In addition to supporting the ease of cycling, the electric energy available can also be used for innovative braking control systems. The project BikeSafe picks up on this idea and aims at developing an active Braking Dynamics Assistance system (BDA) for EBs equipped with hydraulic brakes. A simulation model taking into account all substantial braking dynamics influences is necessary for the model-based design of the BDA. This paper presents a Multi-Body Model (MBM) of a front suspension bicycle and a passive rider. This MBM has been experimentally validated for in-plane braking dynamics using road tests. It has real-time ability and can therefore be used as a virtual representation of the plant for the model-based design process of the BDA.

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Research paper thumbnail of Optimisation-Based Power Management System for an Electric Vehicle with a Hybrid Energy Storage System

International Journal of Automotive and Mechanical Engineering, Dec 24, 2018

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Research paper thumbnail of Objectoriented control engineering tool system

In this paper a control engineering tool system currently under development at the Robert Bosch G... more In this paper a control engineering tool system currently under development at the Robert Bosch GmbH Central Research Laboratory is presented. It combines all tools necessary to support modelling, design and implementation of control systems. Resigned as an integrated system it avoids current problems of incompatible dataformats, different userinterfaces and a variety of command languages. Special features are a blockoriented representation of models and design methods, a graphical userinterface and realtime simulation capabilities. A hierarchical modelling approach allows breaking down complex systems into managable components. The userinterface is written in SMALLTALK, a language based on the objectoriented paradigm. Its windowing features support editing blockdiagrams, handling databases and controlling realtime simulation interactively. A configurable network of Transputer5 provides sufficient Computing power and communication bandwidth to simulate large problems in realtime. -

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Experimental Validation of a GPS-Aided Model-Based UKF Vehicle State Estimator

Exact knowledge of the vehicle states in severe driving situations is essential for vehicle dynam... more Exact knowledge of the vehicle states in severe driving situations is essential for vehicle dynamics control. Uncertain road conditions and limited availability of measurements make the vehicle state estimation a difficult task. For this, an Unscented KalmanFilter (UKF) can be used, as it is suitable to work with nonlinear systems and time-varying parameters. In this article, an approach for an adaptive, UKF-based state estimator for an all-wheel drive electric vehicle is presented. The estimator provides combined estimation of longitudinal und lateral vehicle velocities and tire slip as well as individual tire-friction coefficients at each wheel. Furthermore, utilization of GPS speed measurement is considered. Validation is carried out during vehicle experiments featuring severe driving manoeuvres on different road conditions, where unknown disturbances and real-world measurement errors are present. Results with and without GPS measurements are compared.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Combined Optimal Torque and Modal Current Control for Low Inductance PM Motor

Innovative extreme lightweight electric motor designs exploiting the advantages of air-gap windin... more Innovative extreme lightweight electric motor designs exploiting the advantages of air-gap windings depend on a B-field with higher harmonics and have only very small phase inductances in the range of several mumathbfH\mu \mathbf{H}mumathbfH. Besides the advantages of a very small electrical time constant and the opportunity of very fast current control, the demands on sampling time and PWM switching frequency are very high, which leads to increased losses and higher hardware cost. This paper proposes an optimal torque control method reducing motor losses combined with a very robust and computation efficient modal current control. Compared to well-known DQ control methods, proposed strategy reduces motor losses significantly and offers a very fast implementation on a standard microcontroller. The accuracy of the control method was tested experimentally on a wheel-hub motor built with a slotless air-gap winding and low inductance using a standard microcontroller and GaN Power Devices. The proposed method was validated by comparison of simulation and experimental results on one hand and by comparison to conventional DQ control on the other.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Optimization of a multiphase interleaved buck converter based on electromagnetic processes in its elements

In this paper we propose the method for optimizing the multiphase interleaved buck/boost converte... more In this paper we propose the method for optimizing the multiphase interleaved buck/boost converter by reducing weight and simultaneously total losses in converter, taking into account the electromagnetic properties of the coils given the parameters of input voltage, output current and switching frequency. The optimization algorithm allows estimating the required values of the coil parameters, which will accurately describe the behavior of the current in the coils of converter and will prevent saturation in them. The algorithm can be adapted to any geometry of the coils and any number of phases in the interleaved converter. The accuracy of the algorithm was tested in practice. The method of using the algorithm is given on the example of optimization of a three-phase converter with toroidal coils with an input voltage of 60 V, a nominal current of 150A, and a switching frequency of 75 kHz.

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Research paper thumbnail of Interactive Optimization of Controller and Plant Parameters in the Case of Multiple Design Objectives

Bookmarks Related papers MentionsView impact

Research paper thumbnail of 13. Magdeburger Maschinenbau-Tage 2017 - autonom - vernetzt - nachhaltig, 27. und 28. September 2017 : Tagungsband

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Grundlagen eines instrumentellen Verfahrens zum Entwurf von Mehrgrößenregelungen / Basic principles of an instrumental method for multivariable controller design

auto

Es wird ein iteratives Verfahren zum Entwurf von Mehrgrosenregelungen auf der Basis einer Empfind... more Es wird ein iteratives Verfahren zum Entwurf von Mehrgrosenregelungen auf der Basis einer Empfindlichkeitsbetrachtung der einzelnen Entwurfsziele bezuglich Anderungen der Reglerparameter vorgestellt. Die Reglerstruktur ist frei vorgebbar und kann in Abwagung des entstehenden Realisierungsaufwands und der mit einem bestimmten Regler erreichbaren Regelgute festgelegt werden. Der Entwurfsablauf ist darauf abgestimmt, in einem interaktiven Prozes die vorgegebenen Entwurfsforderungen gezielt schrittweise zu erfullen. Fur die Optimierung von Eigenwerten und Streuungen stochastisch erregter linearer Systeme werden die theoretischen Grundlagen des Verfahrens ausfuhrlich erlautert. Abschliesend wird seine Anwendung am Entwurf verschiedener Regler fur ein aktives elektro-hydr aulische s Federbein eines Kraftfahrzeugs verdeutlicht. An iterative methodfor the design of multi-variable controllers on the basis of a sensitivity investigation of the individual design goals with respect to changes in the controller parameters is presented. The controller structure may arbitrarily be chosen and can be specified considering the realisation effort and the control quality, which can be achieved with a specific controller. The design procedure is such that in an iterative process the given design targets are fulfilled step by step. The theoretical foundations of the method are explained in details for the optimization of eigenvalues and the control of stochastically disturbed linear systems. Finally the application is illustrated with the design of different controllers for an active electrohydraulic spring support of a motor vehicle.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Objectoriented Modelling and Simulation of Mechatronic Systems

Solid Mechanics and Its Applications, 1997

In many technical applications mechatronic products offer superior functionality and improved fle... more In many technical applications mechatronic products offer superior functionality and improved flexibility by integrating features of mechanical, electronic and control systems into one device. But traditional design and modelling methods well known for mechanical, electronic and control systems do not support a complete interdisciplinary design process.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Hierarchisches Konzept zur Fahrdynamikregelung für Elektrofahrzeuge mit Einzelradantrieben

at - Automatisierungstechnik, 2017

Zusammenfassung Der Einsatz elektrischer Einzelradantriebe in Kraftfahrzeugen eröffnet auf Grund ... more Zusammenfassung Der Einsatz elektrischer Einzelradantriebe in Kraftfahrzeugen eröffnet auf Grund der Möglichkeit der schnellen und genauen radindividuellen Stellung positiver und negativer Drehmomente neue Potenziale für die Fahrdynamikregelung. Hierdurch wird eine Regelung des Reifenlängsschlupfes an jedem Rad mit hoher Dynamik und Genauigkeit sowie eine höhere Energieeffizienz ermöglicht, die mit konventionellen Eingriffen des Bremssystems nicht umsetzbar ist. Damit eine darauf aufbauende Regelung der Fahrzeugdynamik diese Vorteile konsequent ausnutzen kann, wird in diesem Beitrag ein hierarchisches Konzept zur Fahrdynamikregelung vorgestellt, das eine Unterteilung der Beobachtungs- und Regelungsstruktur auf Rad- und Fahrzeugebene vorsieht.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A Practical Control Concept for the Active Suspension of Road Vehicles

IFAC Proceedings Volumes, 1987

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A exible interface for linking applications to Penman''s sentence genera-tor

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Miniaturized actuators for optical functions in medical videoscopes

Biomedical Engineering / Biomedizinische Technik, 2012

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Hydraulic Valve with Integrated Piezoelectric Drive

IFAC Proceedings Volumes, 2000

Bookmarks Related papers MentionsView impact

Research paper thumbnail of New Mathematical Approach for Eddy Current Loss in Air-Gap-Windings in a PMSM

2019 IEEE 13th International Conference on Power Electronics and Drive Systems (PEDS), 2019

In this paper, a new mathematical approach for calculation of Eddy Current Losses in Air-Gap-Wind... more In this paper, a new mathematical approach for calculation of Eddy Current Losses in Air-Gap-Windings is introduced. Based on magnetic field simulations in ANSYS Maxwell of the PMSM, developed at Otto-von-Guericke-University Magdeburg, the magnetic flux through the winding is estimated. The calculation of the losses is realized by using differential small conductor loops representing the flow of the eddy current inside the copper windings. The approach is validated and compared with measured eddy current loss from two different PMSM with Air-Gap-Winding.

Bookmarks Related papers MentionsView impact