2013 IEEE Vehicle Power and Propulsion Conference (VPPC), 2013
ABSTRACT Currently electric vehicles are introduced in e.g. public transport and individual traff... more ABSTRACT Currently electric vehicles are introduced in e.g. public transport and individual traffic in order to reduce i.a. the green house gas emissions. The main disadvantage of electric vehicles compared to vehicles with conventional drive is the shorter operating distance. In contrast this disadvantage is partially negligible in urban usage scenarios, like e.g. taxi or delivery services. This paper focuses on the simulation of electric vehicle propulsion systems using a Hardware in the Loop (HiL) model. The model consisting of components used in actual electric vehicles is scaled using Buckingham's Pi-Theorem in order to analyze the impact of different electric traction systems on the vehicle's energy consumption. Thus the available operating distance of such vehicles can be optimized in urban traffic.
Mathematical and Computer Modelling of Dynamical Systems, 2011
The modelling via transmission elements, which was originally introduced to model the kinematics ... more The modelling via transmission elements, which was originally introduced to model the kinematics and dynamics of multi-body systems, is applied to modelling electric drive systems with switch circuits in this article. This approach is implemented in C++ in the simulation software Drive&Control D&C Engine which is designed to model and simulate mechatronic systems in the drive engineering by the department of
Due to the increased computing power in the last decade, more and more complex vehicle models wer... more Due to the increased computing power in the last decade, more and more complex vehicle models were developed. Nowadays even complex multibody models can be generated via graphical user interfaces in object-oriented simulation tools like Dymola or SimulationX. On the other hand, the available computing power in electronic control units is still limited, mostly by the cost pressure in the automotive industry. Hence, it is not possible to generate a complex model by drag and drop via a graphical user interface and run it in real-time within a desired time cycle on an ECU inside the vehicle. The same holds for HIL-testbeds and driving simulators, where the model must run in real-time as well. Thus, generally the model is adjusted in an iterative process until the model can be integrated in real-time on the particular ECU. In other words, a model has to be generated that is on the one hand complex enough to reproduce the desired physical effects and on the other hand simple enough to fulfill the real-time requirements. As it is easy to generate a complex model nowadays, an algorithm for the automated reduction of the model is required. Equation-based reduction techniques are a tool for the automated reduction of a given DAE-system for a defined error bound. This approach was already adopted and extended to generate vehicle models with an adjustable accuracy. In this contribution, equation-based reduction techniques are extended to generate models, which are guaranteed to run in real-time on a given real-time target within a given real-time cycle.
2012 IEEE International Electric Vehicle Conference, 2012
ABSTRACT This paper describes the simulation of an electric vehicle drive train via a hardware in... more ABSTRACT This paper describes the simulation of an electric vehicle drive train via a hardware in the loop (HiL) setup in combination with an interactive driving simulator based on MATLAB/Simulink. This setup provides the possibility to test the suitability of electric vehicles in different usage scenarios using a laboratory environment. Another aspect is that by a comprehensive analysis of the measurement data, system components of the drive train can be tested under realistic conditions and further developed in order to improve the efficiency of such vehicles.
2008 IEEE International Conference on Robotics and Automation
Tendon-based parallel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the end ... more Tendon-based parallel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the end effector along a given trajectory. Since tendons can only transmit limited and tractive forces, it is essential to apply a valid tendon force distribution. Due to safety and precision requirements, a combined position and force control is needed where the force
ABSTRACT This paper focuses on the effect of using an actuated driving simulator to increase the ... more ABSTRACT This paper focuses on the effect of using an actuated driving simulator to increase the realistic perception on a human driver. Understanding the implication of decision making while driving a vehicle, remains a challenging task. The driving task was often approached in the literature as a visual guided task, nevertheless latest research claim that driving skills are considerably affected by the vestibular system of a human's body. The main idea is to test how the human vestibular system responds to the movement ...
Chain conveyor systems are widely used for transportation of work pieces, pack- ages or the other... more Chain conveyor systems are widely used for transportation of work pieces, pack- ages or the other goods in the industry. They are made of the drive unit, chain, section profile, return unit and racks. The trajectories of section profiles can be straight, horizontally or vertically curved. Depending on the applications, chain conveyor systems are operated with different layouts, and their chains are up to hundred meters long, and composed of a large amount of pinned single modules. The problem is that the unexpected longitudinal vibration occurs for some of their layouts. Surprisingly, almost no reference is made to this phenomenon, and no dynamic simulation is carried out to study systems on such scale in the literature. In this paper, we present the models of chain conveyor systems in a reduced fashion due to the large dimension of equation systems (each single chain module accounts for 2 differential equations, a 50 meter-long chain has 1500 components). Measurement results are co...
Abstract—Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, tr... more Abstract—Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands,(joystick) into actuator space by coor- dinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main body kept. This re- quires an elaborate motion coordination and controller soft- ware. One possible way to organise this is described here: by isolating the physical robot from the motion generation (hardware abstraction layer), by using concurrent behav- iours for motion generation and by strict modularisation of the software. The selected tools and realtime operating system are described in the last sections. Index Terms—Walking Robot, Quadruped, Modular Con-
Iutam Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments: Proceedings of the Iutam Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, Held in Budapest, Hungary, June 7-11, Jun 29, 2011
Author Index Angulo, Fabiola 1 1 9 Awrejcewicz, Jan 185 Balachandran, Balakumar 247 Behn, Carsten... more Author Index Angulo, Fabiola 1 1 9 Awrejcewicz, Jan 185 Balachandran, Balakumar 247 Behn, Carsten 57, 65 Bencsik, Laszlé 3 Bibo, Andras 155 Biro, I. 177 Bock, Igor 293 Bombled, Q. 73 Brandt, Thorsten 91 Chernousko, Felix L. 47 Chwal, M. 239 Csizmadia, Béla M. 145, 177 Eberhard, Peter 19 Gorius, Thomas 19 Hegediis, Attila 145 Hurtado, Jorge E. 127 Inagaki, Yoshinori 273 Ing, James 135 Karapetyan, AV 257 Karolyi, Gyérgy 155 Kasama, Minoru 273 Keppler, Istvan 145 Kedziora, P. 231 Kono, G0 273 Kovacs, Laszlé L. 3 Kovacs, ...
2013 IEEE Vehicle Power and Propulsion Conference (VPPC), 2013
ABSTRACT Currently electric vehicles are introduced in e.g. public transport and individual traff... more ABSTRACT Currently electric vehicles are introduced in e.g. public transport and individual traffic in order to reduce i.a. the green house gas emissions. The main disadvantage of electric vehicles compared to vehicles with conventional drive is the shorter operating distance. In contrast this disadvantage is partially negligible in urban usage scenarios, like e.g. taxi or delivery services. This paper focuses on the simulation of electric vehicle propulsion systems using a Hardware in the Loop (HiL) model. The model consisting of components used in actual electric vehicles is scaled using Buckingham's Pi-Theorem in order to analyze the impact of different electric traction systems on the vehicle's energy consumption. Thus the available operating distance of such vehicles can be optimized in urban traffic.
Mathematical and Computer Modelling of Dynamical Systems, 2011
The modelling via transmission elements, which was originally introduced to model the kinematics ... more The modelling via transmission elements, which was originally introduced to model the kinematics and dynamics of multi-body systems, is applied to modelling electric drive systems with switch circuits in this article. This approach is implemented in C++ in the simulation software Drive&Control D&C Engine which is designed to model and simulate mechatronic systems in the drive engineering by the department of
Due to the increased computing power in the last decade, more and more complex vehicle models wer... more Due to the increased computing power in the last decade, more and more complex vehicle models were developed. Nowadays even complex multibody models can be generated via graphical user interfaces in object-oriented simulation tools like Dymola or SimulationX. On the other hand, the available computing power in electronic control units is still limited, mostly by the cost pressure in the automotive industry. Hence, it is not possible to generate a complex model by drag and drop via a graphical user interface and run it in real-time within a desired time cycle on an ECU inside the vehicle. The same holds for HIL-testbeds and driving simulators, where the model must run in real-time as well. Thus, generally the model is adjusted in an iterative process until the model can be integrated in real-time on the particular ECU. In other words, a model has to be generated that is on the one hand complex enough to reproduce the desired physical effects and on the other hand simple enough to fulfill the real-time requirements. As it is easy to generate a complex model nowadays, an algorithm for the automated reduction of the model is required. Equation-based reduction techniques are a tool for the automated reduction of a given DAE-system for a defined error bound. This approach was already adopted and extended to generate vehicle models with an adjustable accuracy. In this contribution, equation-based reduction techniques are extended to generate models, which are guaranteed to run in real-time on a given real-time target within a given real-time cycle.
2012 IEEE International Electric Vehicle Conference, 2012
ABSTRACT This paper describes the simulation of an electric vehicle drive train via a hardware in... more ABSTRACT This paper describes the simulation of an electric vehicle drive train via a hardware in the loop (HiL) setup in combination with an interactive driving simulator based on MATLAB/Simulink. This setup provides the possibility to test the suitability of electric vehicles in different usage scenarios using a laboratory environment. Another aspect is that by a comprehensive analysis of the measurement data, system components of the drive train can be tested under realistic conditions and further developed in order to improve the efficiency of such vehicles.
2008 IEEE International Conference on Robotics and Automation
Tendon-based parallel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the end ... more Tendon-based parallel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the end effector along a given trajectory. Since tendons can only transmit limited and tractive forces, it is essential to apply a valid tendon force distribution. Due to safety and precision requirements, a combined position and force control is needed where the force
ABSTRACT This paper focuses on the effect of using an actuated driving simulator to increase the ... more ABSTRACT This paper focuses on the effect of using an actuated driving simulator to increase the realistic perception on a human driver. Understanding the implication of decision making while driving a vehicle, remains a challenging task. The driving task was often approached in the literature as a visual guided task, nevertheless latest research claim that driving skills are considerably affected by the vestibular system of a human's body. The main idea is to test how the human vestibular system responds to the movement ...
Chain conveyor systems are widely used for transportation of work pieces, pack- ages or the other... more Chain conveyor systems are widely used for transportation of work pieces, pack- ages or the other goods in the industry. They are made of the drive unit, chain, section profile, return unit and racks. The trajectories of section profiles can be straight, horizontally or vertically curved. Depending on the applications, chain conveyor systems are operated with different layouts, and their chains are up to hundred meters long, and composed of a large amount of pinned single modules. The problem is that the unexpected longitudinal vibration occurs for some of their layouts. Surprisingly, almost no reference is made to this phenomenon, and no dynamic simulation is carried out to study systems on such scale in the literature. In this paper, we present the models of chain conveyor systems in a reduced fashion due to the large dimension of equation systems (each single chain module accounts for 2 differential equations, a 50 meter-long chain has 1500 components). Measurement results are co...
Abstract—Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, tr... more Abstract—Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands,(joystick) into actuator space by coor- dinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main body kept. This re- quires an elaborate motion coordination and controller soft- ware. One possible way to organise this is described here: by isolating the physical robot from the motion generation (hardware abstraction layer), by using concurrent behav- iours for motion generation and by strict modularisation of the software. The selected tools and realtime operating system are described in the last sections. Index Terms—Walking Robot, Quadruped, Modular Con-
Iutam Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments: Proceedings of the Iutam Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, Held in Budapest, Hungary, June 7-11, Jun 29, 2011
Author Index Angulo, Fabiola 1 1 9 Awrejcewicz, Jan 185 Balachandran, Balakumar 247 Behn, Carsten... more Author Index Angulo, Fabiola 1 1 9 Awrejcewicz, Jan 185 Balachandran, Balakumar 247 Behn, Carsten 57, 65 Bencsik, Laszlé 3 Bibo, Andras 155 Biro, I. 177 Bock, Igor 293 Bombled, Q. 73 Brandt, Thorsten 91 Chernousko, Felix L. 47 Chwal, M. 239 Csizmadia, Béla M. 145, 177 Eberhard, Peter 19 Gorius, Thomas 19 Hegediis, Attila 145 Hurtado, Jorge E. 127 Inagaki, Yoshinori 273 Ing, James 135 Karapetyan, AV 257 Karolyi, Gyérgy 155 Kasama, Minoru 273 Keppler, Istvan 145 Kedziora, P. 231 Kono, G0 273 Kovacs, Laszlé L. 3 Kovacs, ...
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Papers by Dieter Schramm