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  <doc>
    <id>1793</id>
    <completedYear/>
    <publishedYear>2023</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber>53</pageNumber>
    <edition/>
    <issue/>
    <volume/>
    <type>bachelorthesis</type>
    <publisherName/>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>2023-08-24</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>2023-06-10</thesisDateAccepted>
    <title language="eng">Controller Design, Implementation, and Comparison on a Ball-on-Wheel Test Rig</title>
    <abstract language="eng">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.</abstract>
    <identifier type="urn">urn:nbn:de:hbz:1383-opus4-17933</identifier>
    <enrichment key="opus.source">publish</enrichment>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <licence>CC0 1.0 Universell - Gemeinfreiheit (Public Domain)</licence>
    <author>Volodymyr Stalnyi</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>PID Controller</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>State-Space Controller</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Control Engineering</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Matlab</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Simulink</value>
    </subject>
    <collection role="ddc" number="62">Ingenieurwissenschaften</collection>
    <collection role="institutes" number="">Fakultät Technologie und Bionik</collection>
    <thesisPublisher>Hochschule Rhein-Waal</thesisPublisher>
    <thesisGrantor>Hochschule Rhein-Waal</thesisGrantor>
    <file>https://opus4.kobv.de/opus4-rhein-waal/files/1793/Thesis-submit.pdf</file>
  </doc>
  <doc>
    <id>1666</id>
    <completedYear/>
    <publishedYear>2023</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber>144</pageNumber>
    <edition/>
    <issue/>
    <volume/>
    <type>bachelorthesis</type>
    <publisherName/>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>2023-02-02</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>2022-12-09</thesisDateAccepted>
    <title language="eng">Development and Implementation of a Cascade Torque Controller for a Motor Test Rig</title>
    <abstract language="eng">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.</abstract>
    <identifier type="urn">urn:nbn:de:hbz:1383-opus4-16663</identifier>
    <enrichment key="opus.source">publish</enrichment>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <licence>CC BY 4.0 International - Namensnennung</licence>
    <author>Tung Tran</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Motor Test Rig</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>HiL Simulation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>System Identification</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Cascade Control</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>State Feedback Control</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Servo Motor</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Model Based Design</value>
    </subject>
    <collection role="ddc" number="62">Ingenieurwissenschaften</collection>
    <collection role="institutes" number="">Fakultät Technologie und Bionik</collection>
    <thesisPublisher>Hochschule Rhein-Waal</thesisPublisher>
    <thesisGrantor>Hochschule Rhein-Waal</thesisGrantor>
    <file>https://opus4.kobv.de/opus4-rhein-waal/files/1666/Tran_CascadeControllerDevelopment4MotorTestRig.pdf</file>
  </doc>
  <doc>
    <id>2269</id>
    <completedYear>2025</completedYear>
    <publishedYear>2025</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>bachelorthesis</type>
    <publisherName/>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Development, Controller Design and Validation of a Torque Vectoring System for an All-Wheel Drive Electric Go-Kart</title>
    <abstract language="eng">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.&#13;
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.&#13;
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.&#13;
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.&#13;
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.</abstract>
    <enrichment key="opus.import.date">2025-10-13T10:14:53+00:00</enrichment>
    <enrichment key="opus.source">sword</enrichment>
    <enrichment key="opus.import.user">swordtest</enrichment>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <licence>CC BY-NC-ND 4.0 International - Namensnennung-Nicht kommerziell-Keine Bearbeitungen</licence>
    <author>Luka Vasovic</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Torque Vectoring</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Vehicle Dynamics</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Vehicle Simulation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Bicycle Model</value>
    </subject>
    <collection role="institutes" number="">Fakultät Technologie und Bionik</collection>
    <collection role="Import" number="import">Import</collection>
    <thesisPublisher>Hochschule Rhein-Waal</thesisPublisher>
    <thesisGrantor>Hochschule Rhein-Waal</thesisGrantor>
  </doc>
</export-example>
