The self-optimizing guidance mo- dule exploits the clearance to steer the vehicle most comfortably as well as energy efficient in the presence of track irregularities.
Two test-beds for electric drives: PMSM motor with FPGA based controller (top right) and switched reluctance motor (blue)
The air gap adjustment test-bed facilitates research into the self- optimizing adjustment of the air gap of a linear traction motor.
The D1 subproject deals with the design and prototypical realisation of self-optimizing hardware function modules (components and systems). In these pilot projects the methods, tools, and technologies developed in the context of the SFB will be tested, verified, and refined. Due to close cooperation, the experiences gained in the process will be directly used for the advancement and implementation of the theoretical works.
The D1 subproject focuses on the individual module as a component of an overall system that is structured in a modular as well as hierarchical manner. The entire design procedure is applied to real-world engineering tasks by using actual testbeds, from identification of the potential for self-optimization to the use of the design methods and development tools to the implementation of solution elements for hard- or software components.
At present, research deals mostly with function modules of the 
RailCab but also universally applicable electrical drives. Modelling and identification of the RailCab test carrier have been nearly completed and will not be continued. Still, the RailCabs and related testbeds will continue to serve for testing novel methods and concepts. In the future, the focus will lie particularly on the self-optimization and self-configuration of drive systems and actuator groups as well as on the design of self-optimizing operating strategies for applications that have stochastic behaviour.
In detail, the work in the subproject D1 can be categorized as followed:
Online Operating-point Control
For enhancing the online operating-point control of the doubly-fed linear motor, the impact of parameter variations was analysed and integrated into the optimization algorithm. In the implementation the focus was on online-useability of the self-optimization and the systematic extension of the communication within the actual OCM. In the future the self-optimization of the linear motor is going to be extended by a stationary energy transmission mode where the well-known methods of multi-objective optimization will of course continue to be employed. Also the concept of locally distributed OCM is going to be applied with other direct drives.
Self-optimizing Guidance
For the self-optimizing guidance a model-based method was developed where the underlying problem of an optimal control is defined as a multi-objective optimization problem. In the optimization, the trade-off effected between the different objectives will continuously be adapted to the respective situation. The benefit in self-optimization lies in a decoupling of power requirements from environmental impacts as well as the possibility to negotiate power assignment vs. impending flange contacts.
Reliability of the Guidance Module
When implementing a state- and safety-monitoring system we pursued two lines of thought: the procedure of analysing the reliability assesses how reliable individual components and functions of the guidance module are and derives actions that have to be considered in conceiving a self-optimizing system. In the second approach we examined the operating stage, with the focus on realising the controller switching triggered by failures in the sensors and actuators employed in the guidance module.
Self-optimizing Drive Controller
In order to realise a self-optimizing drive controller we developed a modular structure that allows dynamical reconfiguration of the controllers. It comprises dynamically reconfigurable areas in the FPGA where controllers, different ADC evaluations and the generation of switch signals are realised. In the future the self-optimizing drive control will also be developed for switched reluctance motors. Here, the dynamic controller reconfiguration is examined also with regard to an improvement of the quality of control with a varying air gap in linear reluctance motors. Additionally, the reconfigurable control structure provides the opportunity to react to emergencies, e.g. phase failures in multi-phase reluctance motors (rotatory or linear ones) so that the motor continues to provide drive torque.
Self-optimizing Air Gap Adjustment
The „air gap adjustment“ testbed serves as a basis for researching the dynamical adjustment of the air-gap of a linear motor to a certain stator (mis)alignment that can be emulated at the testbed. In the future, different controllers and methods for controller switching will be examined at the testbed. We will also develop a power-profile planning algorithm that is dependent on the track, the controller and the target system. Additionally, we intend to transfer the developed concept to technical applications outside the RailCab project.
Hybrid Energy-storage Module
The energy management of the hybrid energy-storage module is going to be extended in view of general road-traffic applications. Compared to the RailCab these applications have higher variability in their power-demand profile and require operating strategies that can be determined according to stochastic parameters of the profile.
Self-configurating Actuator Modules
Consistent improvement of the self-optimization concept has revealed the fact that it is not only possible to improve operating states in which a system fulfills its main functions but also that particularly the change-over between these operating states and so-called non-nominal operating states (e.g., start-ups or errors) has impressive potential for self-optimization. This so-called self-configuration will be the object of future, more in-depth research using the example of the actuator modules of the suspension testbed.
Directors of the Subproject:
Coordinator of the Subproject:
Publications (since 6/2005)
Reviewed Publications
Adelt, P.; Donoth, J.; Gausemeier, J.; Geisler, J.; Henkler, S.; Kahl, S.; Klöpper, B.; Krupp, A.; Münch, E.; Oberthür, S.; Paiz, C.; Podlogar, H.; Porrmann, M.; Radkowski, R.; Romaus, C.; Schmidt, A.; Schulz, B.; Vöcking, H.; Witkowski, U.; Witting, K.; Znamenshchykov, O.: Selbstoptimierende Systeme des Maschinenbaus - Definitionen, Anwendungen, Konzepte. Band 234 der HNI-Verlagsschriftenreihe, Paderborn, 2008
Adelt, P.; Schmidt, A.; Esau, N.: Interval Optimization in a Hybrid Planner Context for an Air Gap Adaptation System. 3rd Asia International Symposium on Mechatronics(AISM08), August 27-31, 2008, Sapporo, Japan, 2008
Böcker, J.; Schmidt, A.; Schulz, B.; Zimmer, D.: Direktantriebe passend ausgewählt - Elektromagnetische Direktantriebe im Vergleich. Antriebstechnik, Nr. 2 (spezial), 2005, S. 2-6
Boxnick, S.; Klöpfer, S.; Romaus, C.; Klöpper, B.: Multiobjective Search for the Management of a Hybrid Energy Storage System. In: 8^th International Conference on Industrial Informatics (INDIN), 2010
Dangelmeier, W.; Frank, U.; Gausemeier, J.; Klöpper, B.; Schmidt, A.; Zimmer, D.: Using acitve patterns for the conceptual design of self-optimizing systems examplified by an air gap adjustment system. ASME 2007 - International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), September 4-7, 2007, Las Vegas, USA, 2007
Dell’Aere, A.; Hirsch, M.; Klöpper, B.; Koester, M.; Krüger, M.; Krupp, A.; Müller, T.; Oberthür, S.; Pook, S.; Priesterjahn, C.; Romaus, C.; Schmidt, A.; Sondermann-Wölke, C.; Tichy, M.; Vöcking, H.; Zimmer, D.: Verlässlichkeit selbstoptimierender Systeme - Potenziale nutzen und Risiken vermeiden. HNI-Verlagsschriftenreihe, Band 235, Paderborn, 2009
Donoth, J.; Klöpper, B.; Romaus, C.; Schmidt, A.; Vöcking, H.: Defining a System of Objectives for a Multi-agent Coordination Coordination of Function Modules within Mechatronic Systems. ASME 2008 - International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), August 3-6, 2008, New York, USA, 2008
Dumitrescu, R.; Gausemeier, J. & Romaus, C.: Towards the Design of Cognitive Functions in Self-Optimizing Systems exemplified by a Hybrid Energy Storage System. In: 10th International Workshop on Research and Education in Mechatronics (REM), Glasgow, UK, Sept. 2009
Frank U.; Gausemeier, J.; Schmidt, A.; Zimmer, D.: Von der Mechatronik zur Selbstoptimierung, (Technical Paper & Tagungsvortrag). In: IFM2007 – Internationales Forum Mechatronik - Intelligente Systeme und Module, 12./13. September, Winterthur (Schweiz), ISBN 978-3-033-01192-2
Frank, U.; Giese, H.; Müller, T.; Oberthür, S.; Romaus, C.; Tichy, M.; Vöcking, H.: Potenziale und Risiken der Selbstoptimierung für die Verlässlichkeit mechatronischer Systeme. In: 5. Paderborner Workshop Entwurf Mechatronischer Systeme, 22.-23. März 2007, Paderborn, HNI-Verlagsschriftenreihe, Band 210, 2007
Gausemeier, J.; Donoth, J.; Podlogar, H.; Schmidt, A.; Zimmer, D.: Determination of Active Patterns during the Conceptual Design of Self-Optimizing Systems demonstrated by an Air Gap Adjustment System. 19th International Conference on Systems (ICSEng08), August 19-21, 2008, Las Vegas, USA, 2008
Gausemeier, J.; Frank, U.; Pook, S.; Schmidt, A.; Zimmer, D.: Conceptual design of self-optimizing systems exemplified by a magnetic linear drive. ICED' 07-16th International Conference on Engineering Design, August 28-31, 2007, Paris, 2007
Gausemeier, J.; Frank, U.; Pook, S.; Schmidt, A.; Zimmer, D.: Konzipierung selbstoptimierender Systeme am Beispiel eines magnetischen Linearantriebs. 5. Paderborner Workshop "Entwurf mechatronischer Systeme", 22.-23. März 2007, HNI-Verlagsschriftenreihe, Band 210, 2007
Gausemeier, J.; Frank, U.; Schulz, B.: Domänenübergreifende Spezifikation der Prinziplösung selbstoptimierender Systeme unter Berücksichtigung der auf das System wirkenden Einflüsse. In: Mechatronik 2005 - Innovative Produktentwicklung, 1.-2. Juni 2005, Wiesloch, VDI-Verlag, 1892.1, Düsseldorf, 2005
Gausemeier, J.; Kahl, S.; Low, C. Y.; Schulz, B.: From the Principle Solution towards Controller Design of Self-Optimizing Systems. 5. Paderborner Workshop "Entwurf mechatronischer Systeme", 22.-23. März 2007, HNI-Verlagsschriftenreihe, Band 210, 2007
Gausemeier, J.; Kahl, S.; Low, C. Y.; Schulz, B.: Systematic Development of Controller Design based on the Principle Solution of Self-Optimizing Systems. 10th International Design Conference, 19.-22. Mai 2008, Dubrovnik, 2008
Gausemeier, J.; Zimmer, D.; Donoth, J.; Pook, S.; Schmidt, A.: Conceptual Design of Self-Optimzing Mechatronic Systems. In: Self-optimizing Mechatronic Systems: Design the Future, 7. Internationales Heinz Nixdorf Symposium, 20.-21. Februar 2008, HNI-Verlagsschriftenreihe, Band 223, Paderborn, ISBN 978-3-939350-42-2
Gausemeier, J.; Zimmer, D.; Donoth, J.; Pook, S.; Schmidt, A.: Proceeding for the conceptual design of self-optimizing mechatronic systems. In: 10th International Design Conference (DESIGN2008), May 19-22, 2008, Dubrovnik, Croatia
Gausemeier, J.; Zimmer, D.; Kahl, S.; Schmidt, A.: Holistic Conceptual Design of Self-Optimizing Mechatronic Systems In: 3rd Asia International Symposium on Mechatronics (AISM08), 27. – 31. August 2008, Sapporo, Hokkaido University, Japan
Geisler, J.; Trächtlet, A.: Control of the Pareto Optimality of Systems with Unknown Disturbances. In: 7th IEEE International Conference on Control & Automation (ICCA 2009), Christchurch, New Zealand, December 9-11, 2009
Geisler, J.; Witting, K.; Trächtler, A.; Dellnitz, M.: Multiobjective Optimization of Control Trajectories for the Guidance of a Rail-bound Vehicle. 17th IFAC World Congress, July 6-11, 2008, Seoul, Korea, 2008
Geisler, J.; Witting, K.; Trächtler, A.; Dellnitz, M.: Self-Optimization of the Guidance Module of a Rail-bound Vehicle. 7th International Heinz Nixdorf Symposium "Self-optimizing Mechatronic Systems: Designing the Future", February 20-21, 2008, HNIVerlagsschriftenreihe, Band 223, Paderborn, 2008
Henkler, S.; Hirsch, M.; Kahl, S.; Schmidt, A.: Development of Self-optimizing Systems: Domain-spanning and Domain-specific Models exemplified by an Air Gap Adjustment System for Autonomous Vehicles. ASME 2008 - International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), August 3-6, 2008, New York, USA, 2008
Klöpper, B.; Romaus, C.; Schmidt, A.; Vöcking, H.: A Multi-agent Planning Problem for the Coordination of Function Modules. 7th International Heinz Nixdorf Symposium "Self-optimizing Mechatronic Systems: Designing the Future", February 20-21, 2008, HNIVerlagsschriftenreihe, Band 223, Paderborn, 2008
Klöpper, B.; Sondermann-Wölke, C.; Romaus, C.; Vöcking, H.: Probabilistic Planning Integrated in a Multi-level Dependability Concept for Mechatronic Systems. In: IEEE Symposium on Computational Intelligence in Control and Automation, Nashville, TN, USA, March 30 – April 2, 2009, pp. 104-111
Müller, T.; Wallaschek, J.: General concepts for Dependability in the Design of Mechatronic Systems. 7th International Workshop on Research and Education in Mechatronics REM 2006, June 15-16, 2006, Stockholm, Schweden, 2006
Müller, T.; Wallaschek, J.: Musterdatenbank zur Konzipierung verlässlicher mechatronischer Systeme. TTZ 2007-23. Tagung Technische Zuverlässigkeit. Entwicklung und Betrieb zuverlässiger Produkte, 22.-23. März 2007, VDI-Verlag, Düsseldorf, 2007, S. 135-146
Müller, T.; Walther, M.; Ettingshausen, C.; Wallaschek, J.: Dependability oriented design of self-optimizing mechatronic Systems. 6th International Workshop on Research and Education in Mechatronics REM 2005, June 30 - July 1, 2005, d'Annecy, Frankreich, 2005
Paiz, C.; Hagemeyer, J.; Pohl, C.; Porrmann, M.; Rückert, U.; Schulz, B.; Peters, W.; Böcker, J.: FPGA-based realization of self-optimizing drive-controllers. In: 35th Annual Conference of IEEE, Industrial Electronics, 2009 (IECON), 3-5 Nov., 2009, Porto, Portugal, pp. 2848-2853
Peters, W.; Schulz, B.; Mathapati, S.; Böcker, J.: Regular-Sampled Current Measurement in AC Drives Using Delta-Sigma Modulators. In: 13th European Conference on Power Electronics and Applications (EPE2009), Barcelona, Spain, 2009
Radkowski, R.; Hölscher, C.; Speith, M.; Hilus, M.: Visualisierungen zum technischen Review eines elektrischen Linearantriebs in der virtuellen Umgebung. In: 13. IFF-Wissenschaftstage, Virtual Reality und Augmented Reality zum Planen, Testen und Betreiben technischer Systeme, Magdeburg, 2010
Romaus, C.; Böcker, J.; Witting, K.; Seifried, A.; Znamenshchykov, O.: Optimal Energy Management for a Hybrid Energy Storage System Combining Batteries and Double Layer Capacitors. In: IEEE Energy Conversion Congress and Expo (ECCE), San Jose, USA, 2009
Romaus, C.; Gathmann, K.; Böcker, J.: Optimal Energy Management for a Hybrid Energy Storage System for Electric Vehicles Based on Stochastic Dynamic Programming Vehicle Power and Propulsion In: Conference (VPPC 2010), Lille, Frankreich, 2010
Schmidt, A.; Adelt, P.; Esau, N.: Integrating dynamic track sectioning for a linear drive's air gap adjustment into a hybrid planning infrastructure. In: 47th International Conference on Instrumentation, Control and Information Technology (SICE Annual Conference 2008), August 20-22, 2008, Tokyo, Japan, 2008
Schmidt, A.; Adelt, P.; Esau, N.; Kleinjohann, B.; Kleinjohann, L.: Using Enviromental Models approximated by Fuzzy Identification for Hyprid Planning of Mechatronic Systems. In: ASME 2008 - International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), August 3-6, 2008, New York, USA, 2008
Schmidt, A.; Adelt, P.; Esau, N.; Kleinjohann, B.; Kleinjohann, L.; Rose, M.: Approximation of Environment Models for an Air Gap Adjustment System in a Hybrid Planning Context. IEEE Multi-Conference on Systems & Control (IEEE MSC 2008), September 3-5, 2008, San Antonio, USA, 2008
Schmidt, A.; Esau, N.; Adelt, P.; Stern, C.: Prediction of the Air Gap Gradient for a Linear Motor driven Railway Vehicle by Fuzzy Identification. IEEE International Conference on Mechatronics and Automation (IEEE ICMA 2008), August 5-8, 2008, Takamatsu, Japan, 2008
Schmidt, A.; Zimmer, D.: Der Luftspalt bei Linearmotor-getriebenen Schienenfahrzeugen. Antriebstechnik, Nr. 2 (spezial), 2005, S. 5-10
Schneider, T.; Schulte, C.; Mathapati, S.; Böcker, J.: Energy Transfer with Doubly-Excited Switched Reluctance Drive Proc. In: International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Pisa, Italy, 2010
Schneider, T.; Schulz, B.; Henke, C.; Böcker, J.: Redundante Positionserfassung für ein spurgeführtes linearmotorgetriebenes Bahnfahrzeug. 4. Paderborner Workshop "Entwurf mechatronischer Systeme", 30.-31. März 2006, HNI-Verlagsschriftenreihe, Band 189, 2006
Schneider, T.; Schulz, B.; Henke, C.; Witting, K.; Steenken, D.; Böcker, J.: Energy Transfer via Linear Doubly-Fed Motor in Different Operating Modes. In: Proc. International Electric Machines and Drives Conference (IEMDC2009), Miami, Florida, 2009
Schulz, B.; Paiz, C.; Hagemeyer, J.; Mathapati, S.and Porrmann, M.; Böcker, J.: Run-Time Reconfiguration of FPGA-Based Drive Controllers. 12th European Conference on Power Electronics and Applications, September 2-5, 2007, Aalborg, Denmark, 2007
Sondermann-Wölke, C.; Geisler, J.; Hirsch, M.; Hemsel, T.: Verlässlichkeit im aktiven selbstoptimierenden Spurführungsmodul eines schienengebundenen Fahrzeugs. In: Gausemeier, J.; Rammig, F.; Schäfer, W.; Trächtler, A.: 6. Paderborner Workshop Entwurf mechatronischer Systeme. HNI-Verlagsschriftenreihe, Band 250, Paderborn, 2009, S. 231-243
Sondermann-wölke, C.; Geisler, J.; Müller, T.; Trächtler, A.; Böcker, J.: The active guidance module of a rail-bound vehicle as an application of dependability oriented design in self-optimizing systems. ASME 2008 - International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), August 3-6, 2008, New York, USA, 2008
Walther, M.; Müller, T.; Wallaschek, J.: Optimisation of mechatronic systems using dependability oriented design methods. 2nd Intern. Conf. Mechatronic Systems and Materials (MSM), August 31 - September 3, 2006, Krakau, 2006
Witting, K.; Schulz, B.; Dellnitz, M.; Böcker, J.; Fröhleke, N.: A new approach for online multiobjective optimization of mechatronical systems. International Journal on Software Tools for Technology Transfer (STTT), 10(3), 2008, pp. 223-231
Ph.D.-Theses
Müller, T.: Integration von Verlässlichkeitsanalysen und -konzepten innerhalb der Entwicklungsmethodik mechatronischer Systeme. Dissertation, HNI-Verlagsschriftenreihe, Band 256, Paderborn, 2009
Pottharst, A.: Energieversorgung und Leittechnik einer Anlage mit Linearmotor getriebenen Bahnfahrzeugen. Dissertation, Fakultät für Elektrotechnik, Informatik und Mathematik, Universität Paderborn, 2005
Wedmann, S.: Lebensdauerüberwachung in mechatronischen Systemen. Dissertation. HNI-Verlagsschriftenreihe, Band 275, Paderborn, 2009
