@masterthesis{Stalnyi, type = {Bachelor Thesis}, author = {Stalnyi, Volodymyr}, title = {Controller Design, Implementation, and Comparison on a Ball-on-Wheel Test Rig}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-17933}, school = {Hochschule Rhein-Waal}, pages = {53}, abstract = {This thesis project considers the control of the ball-on-wheel (BOW) system with proportional-integral-derivative (PID) and full-state feedback controllers. The BOW test rig consists of the wheel that is actuated by the electric motor, motor encoder, and laser sensor. The desired outcome is to stabilize the ball around the equilibrium point on top of the wheel. By employing common control design techniques and establishing appropriate Simulink models the controllers for the BOW system were implemented. The dSpace software was used to capture the performance of the controllers, while MATLAB was used for analysis. However, various issues arose during the design and commissioning processes, preventing the state-space controller to achieve the desired outcome. As a result, a performance comparison was conducted based on Simulink models, as the state-space controller design failed to perform adequately on the BOW test rig. These issues were thoroughly explained within the thesis and the implications were summarized in the conclusion.}, language = {en} } @masterthesis{Ibor, type = {Bachelor Thesis}, author = {Ibor, Stan}, title = {Implementation of an adaptive control loop on an FPGA microcontroller for a Torque Sensor Calibration rig and optimization of the mechanical design to realize smallest possible uncertainties}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-3304}, school = {Hochschule Rhein-Waal}, pages = {101}, abstract = {A statement on the accuracy of the result of a torque calibration is expressed as a measurement uncertainty (Bell, 1999). This measurement uncertainty is derived from a measurement uncertainty budget which considers contributing factors on the measurement uncertainty and the degree to which these factors influence the measurement uncertainty. Measurement uncertainties arise from different sources such as the measuring item, measuring instruments, environment, the operator and other sources (Bell, 1999). This work seeks to investigate the contributions arising from the afore-mentioned sources on the measurement uncertainties of the lower range (i.e. 5 to 200 Nm) of a HBM 2 kNm reference type torque calibration rig. This work also presents a software implementation of a control loop on an FPGA microcontroller using the graphical programming language LabVIEW. The design of the control system on the FPGA isn't done using VHDL (Very high speed integration circuit Hardware Description Language) but LabVIEW FPGA module from National Instruments. The control system would consists of torque and position control features.}, language = {en} } @masterthesis{Hammond, type = {Bachelor Thesis}, author = {Hammond, Luciano}, title = {LIDAR and RADAR Sensors in Passenger Vehicles}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-4276}, school = {Hochschule Rhein-Waal}, pages = {84}, abstract = {Automotive RADAR and LIDAR are two examples of sensor technologies used to observe the environment and detect objects surrounding the host vehicle, in order to enable ADAS. Naturally, the use of sensors in order to enable systems intended to protect and support the driver or improve their comfort entails stringent requirements; not only in terms of performance, but reliability and robustness as well. This has led to the continued development of sensor technologies, with developers seeking to additionally provide more compact and cost-effective alternatives to surrounding sensing; autonomous driving being the end goal, therefore entailing stricter requirements. Although both RADAR and LIDAR sensors are used for the same purpose, i.e. measuring the radial distance towards a target and determining its velocity relative to the host vehicle, they differ with regards to their functionalities, components, operation and various other aspects, leading to individual strengths and weaknesses. For example, RADAR is known for its impressive detection range, whereas LIDAR is known for its enhanced accuracy and resolution. These contrasting characteristics therefore indicate that either sensor may be preferred over the other in certain situations; perhaps in which one may perform better than the other, or due to other factors and aspects. This paper aims to analyse and compare the two sensor technologies and their use in passenger vehicles with respect to these various factors and aspects, in order to provide an insight into different cases in which one may be more suitable than the other. In general, a single sensor cannot definitively achieve all automotive requirements within all situations. Thus, a combination of sensors is recommended, in order to benefit from their individual strengths and ensure continuous system functionality and availability to detect the surrounding environment.}, language = {en} } @masterthesis{Chhabra, type = {Bachelor Thesis}, author = {Chhabra, Vaibhaiv Bobby}, title = {Design of a Robust Powertrain of an E-Bike Test Bench}, school = {Hochschule Rhein-Waal}, abstract = {In the last few decades, environmental impacts of petroleum-based transportation have led to a renewed interest in electric transport infrastructure. E-bikes are zero-emission vehicles as they do not emit any combustion by-products. With the increasing demand for electric bikes over the past decades, the production of e-bikes has also rocketed. The purpose of this thesis is to optimize and design a robust power train of an e-bike test bench that is stationed in the Rhine-Waal University of Applied Sciences. The mechanical design of the present test bench is modular and flexible. The current test rig is susceptible to large disturbances due to vibrations in the chain drive mechanism. Due to the large segments in the chain drive, the torque results are also interrupted. These issues have been overcome by the substitution of the chain-drive mechanism to a belt-drive mechanism. The optimized power transmission system remains the same ensuring a smooth power flow in the system. In order to optimize the powertrain, three different concepts were proposed. Each concept was graded on the basis of different criteria with the help of Decision Matrix Analysis in order to choose the most promising concept. A conceptual 3D CAD model and 2D Drawings of the powertrain have been designed on SolidWorks for better reference. The substituted or the new parts that were essential for the new optimizing concept were decided with the help of a Morphological Box followed by a detailed Bill of Materials (BOM). The new powertrain was commissioned with the new parts as per the concept. The thesis further expands on the characteristics of the present test bench and the optimized test bench, the results and readings of the present test bench and the commissioning of the new powertrain. The thesis concludes with the possibility of the future work on the test bench and structural changes that are necessary for the e-bike that is to be tested.}, language = {en} } @masterthesis{Tran, type = {Bachelor Thesis}, author = {Tran, Tung}, title = {Development and Implementation of a Cascade Torque Controller for a Motor Test Rig}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-16663}, school = {Hochschule Rhein-Waal}, pages = {144}, abstract = {Servo systems play an important role in the field of automation thanks to their great actuation capability. The majority of industrial servos rely on feeding back armature current for torque control based on the torque-current linear relationship. However, system non-linearity like input delay or external disturbances can make the built-in control mode no longer yields acceptable torque response. This thesis deals with two servo systems in coupling with a torque transducer on a motor test rig as part of a Hardware-in-the-Loop setup. The motor torque step response exhibits a large steady-state error and significant overshoot behavior. This thesis work takes two different approaches to develop a cascade controller that gives desired torque performance. One method is the popular PID control logic and the second is the modern State-Feedback Control architecture using Pole Placement technique. The controller design process is carried out based on an estimated plant model obtained from grey box system identification with experiment data. The designed cascade controllers are implemented and tested on the HIL system with different use cases and yield improved torque transient response with near-zero steady-state error and less than 5\% overshoot under step input in both stationary and rotating conditions. The outer loop controllers are also able to reject intermittent disturbance and track low-frequency input better than the original system. The developed cascade control systems are characterized by high stability margins but limited bandwidth, hence not being able to compensate for the dynamic disturbance of frequency larger than 2.5 Hz. Overall, there are not many differences between the performance of the two control laws, as both can satisfy the system performance requirements.}, language = {en} } @masterthesis{Vasovic2025, type = {Bachelor Thesis}, author = {Vasovic, Luka}, title = {Development, Controller Design and Validation of a Torque Vectoring System for an All-Wheel Drive Electric Go-Kart}, school = {Hochschule Rhein-Waal}, year = {2025}, abstract = {This thesis investigates the design and simulation-based evaluation of a yaw-rate control system using torque vectoring for an all-wheel-drive electric go-kart with independently driven wheels. The work is conducted within a purely model-based framework, employing MATLAB and Simulink to replicate the vehicle dynamics and control interactions in a controlled virtual environment. Torque vectoring describes the distribution of drive torque between individual wheels to influence the yaw moment of the vehicle. This enables targeted improvements in stability, responsiveness, and cornering performance beyond what is achievable with steering input alone. In this study, yaw rate is selected as the primary control variable. A reference yaw rate is derived from the linear bicycle model, and the control objective is to minimize the error between the reference and the simulated actual yaw rate by applying corrective yaw moments through differential torque allocation. A Proportional-Integral-Derivative (PID) controller is implemented to track the reference yaw rate. Gain tuning is performed using MATLAB's PID Tuner, leveraging the system transfer function extracted from the simulation model. The complete control system is integrated into a modular Simulink model of the go-kart, which incorporates the 2-DOF bicycle model for lateral and yaw dynamics, as well as subsystems for maneuver generation and torque vectoring logic. Controller performance is assessed through standard vehicle dynamics test maneuvers, including ramp steer, step steer, and double lane change. For each maneuver, simulations are performed both with and without torque vectoring, allowing quantitative comparison of yaw rate tracking accuracy, stability, and trajectory. The results demonstrate that torque vectoring substantially improves yaw rate tracking and reduces the understeer tendency of the simulated vehicle, particularly during transient maneuvers. Even in a simplified small-scale vehicle model, the benefits of active yaw moment control are evident, underscoring the relevance of torque vectoring for enhancing dynamic performance in electric vehicles with independent wheel actuation. The modular simulation framework developed in this work also provides a foundation for future experimental validation on the physical research platform as well as further developments on the simulation model.}, language = {en} } @masterthesis{MohajeriNejad2025, type = {Bachelor Thesis}, author = {Mohajeri Nejad, Mostafa}, title = {Development and implementation of an adaptive control system for automizing and optimizing the performance of a rolling fluid (setur) hydro-turbine}, school = {Hochschule Rhein-Waal}, year = {2025}, abstract = {This thesis presents the design and implementation of an automated control system for a laboratory-scale SETUR (Sedlacek's Blade-less Rolling Fluid Turbine) hydro turbine test rig. The goal was to enable precise and repeatable experiments by automating the regulation of the turbine's water level and data acquisition process. The developed system integrates multiple sensors, including discrete liquid level sensors, pressure transducers, and a flow meter, interfaced with an Arduino-based controller. A PID-based control algorithm with gain scheduling was designed to adapt to the nonlinear flow dynamics across different operating regimes of the turbine. The control loop operates at a 0.5 s sampling rate and employs layered signal filtering and calibration routines to compensate for sensor noise, offset, and scaling errors. The complete hardware setup includes signal conditioning circuits for analog sensors, digital communication for actuator control, and real-time data monitoring via serial output. Experimental results demonstrate that the system achieves stable water-level regulation within approximately two minutes after pump activation and maintains steady-state operation without overshoot or sustained valve saturation. The overall measurement uncertainties were quantified as ±3.06 \% FS for pressure and ±5.2 \% FS for flow, meeting the predefined accuracy requirement of ≤ 5 \% FS. The developed automation platform provides a reliable foundation for further research on the SETUR turbine, including efficiency characterization, advanced control development, and future integration of IoT-based supervisory monitoring and data analysis tools.}, language = {en} }