@inproceedings{WittmannHagl2016, author = {Wittmann, Josef and Hagl, Rainer}, title = {Gleichlaufschwankungen in Servoantrieben}, series = {Fortschritte in der Antriebs- und Automatisierungstechnik (FAA), Stuttgart}, booktitle = {Fortschritte in der Antriebs- und Automatisierungstechnik (FAA), Stuttgart}, year = {2016}, language = {de} } @inproceedings{WittmannHaglKennel2016, author = {Wittmann, Josef and Hagl, Rainer and Kennel, Ralph}, title = {Influence of Position Measuring Errors on Speed Ripple in Servo Drives}, series = {2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM, Capri, Italy}, booktitle = {2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM, Capri, Italy}, year = {2016}, abstract = {Position measuring devices with sinusoidal measuring signals are widely used in position-controlled servo drives in industrial automation, e.g., for machine tools or semiconductor production machines. Usually, the feedback signal for the speed or velocity controller is calculated from the measured position. Therefore, position measuring errors affect these control loops. This study presents an analytic error model that considers non-ideal sinusoidal measuring signals with basic deviations (amplitude differences, offset errors, and phase shift) as well as signal harmonics. The model was used to systematically investigate the influence of signal quality and the number of signal periods from position measuring devices on speed ripple, across a wide range of speeds. A test stand with a high-resolution reference angle measuring device was used to confirm the results.}, language = {en} } @inproceedings{WittmannHaglKennel2017, author = {Wittmann, Josef and Hagl, Rainer and Kennel, Ralph}, title = {Hybrid Current and Acceleration Control of Servo Drives}, series = {PCIM Europe 2017 - International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, N{\"u}rnberg}, booktitle = {PCIM Europe 2017 - International Exhibition and Conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, N{\"u}rnberg}, year = {2017}, abstract = {A hybrid current and acceleration control is presented and shown to improve the load disturbance behavior of servo drives significantly without additional sensor effort. The feedback signal of the acceleration control loop is calculated from the position data of the motor encoder. Hence, position measuring errors influence this control loop and lead to speed ripple. Therefore, the presented design of the acceleration control loop considers both load sensitivity and position measuring errors.}, language = {en} } @inproceedings{HoellthalerHagl2017, author = {H{\"o}llthaler, Julia and Hagl, Rainer}, title = {Plattformunabh{\"a}ngige modellbasierte Entwicklung von hochdynamischen Antriebsregelungen}, series = {MATLAB EXPO 2017 Deutschland, M{\"u}nchen, 27. Juni 2017}, booktitle = {MATLAB EXPO 2017 Deutschland, M{\"u}nchen, 27. Juni 2017}, year = {2017}, language = {de} } @article{WittmannHagl2016, author = {Wittmann, Josef and Hagl, Rainer}, title = {Positionsmessfehler in Servoantrieben}, series = {Antriebstechnik}, volume = {2016}, journal = {Antriebstechnik}, number = {1-2}, year = {2016}, language = {de} } @inproceedings{HoellthalerHaglKennel2019, author = {H{\"o}llthaler, Julia and Hagl, Rainer and Kennel, Ralph}, title = {Bandwidth Improvements of Linear Direct Drives with a 100 kHz PWM-Frequency}, series = {2019 12th International Symposium on Linear Drives for Industry Applications (LDIA), Neuchatel, Switzerland}, booktitle = {2019 12th International Symposium on Linear Drives for Industry Applications (LDIA), Neuchatel, Switzerland}, year = {2019}, abstract = {A calculation method for a robust servo controller design depending on the sampling time and the processing dead time was developed for mechanically stiff drives. With a test stand for high dynamic and high positioning accuracy, the theoretical calculations for the high bandwidth improvements are verified. The test stand includes a voice coil motor and a power electronic with Gallium Nitride (GaN) power semiconductors for switching frequencies of more than 100kHz.}, language = {en} } @inproceedings{HoellthalerHaglKennel2019, author = {H{\"o}llthaler, Julia and Hagl, Rainer and Kennel, Ralph}, title = {Bandwidth Improvements for Current Control Loops with a 100 kHz PWM Frequency and GaN Power Semiconductors}, series = {2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Hiroshima, Japan}, booktitle = {2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Hiroshima, Japan}, year = {2019}, abstract = {A discrete-time design method for a robust current controller of a servo drive has been developed. It takes the sampling time, the processing dead time and the dynamic behavior of the A/D converter into account. The theoretical calculations are verified using a test stand for high dynamics. The test stand includes a voice coil motor and power electronics with Gallium Nitride (GaN) power semiconductors for switching frequencies of more than 100 kHz. The bandwidth of the current control loop can be improved from typically 1 kHz to 1.5 kHz with insulated-gate bipolar transistor (IGBT) power semiconductors in state-of-the-art motion control systems to 10 kHz and more.}, language = {en} } @inproceedings{HoellthalerHaglKennel2020, author = {H{\"o}llthaler, Julia and Hagl, Rainer and Kennel, Ralph}, title = {Influence of the PWM Frequency on Dynamic and Position Stability of Servo Drives}, series = {25th International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Virtual Meeting}, booktitle = {25th International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Virtual Meeting}, year = {2020}, abstract = {The dynamic behavior and position stability of servo drives are influenced by many parameters. One major influencing parameter is the pulse width modulation (PWM) frequency. With inverters based on wide bandgap semiconductors, the PWM frequency can be increased. This enables a substantial increase in the current control bandwidth. The paper focuses on the influence of the PWM frequency on the dynamics of control loops and position stability, which are derived from theoretical correlations. The theory is verified using a test bench for high dynamic and position stability. The test bench is equipped with a voice coil motor and power electronic with gallium nitride (GaN) power semiconductors for switching frequencies of 100kHz and over. The achieved position stability, measured with a laser-based comparator at the tool center point, is lower than "+-1nm" with a standard deviation of "0.16nm" at a PWM frequency of "f_PWM=100kHz".}, language = {en} } @inproceedings{HilverkusHaglKennel2020, author = {Hilverkus, Johannes and Hagl, Rainer and Kennel, Ralph}, title = {Structural Mechanical Limitations of Dynamics of Servo Drives}, series = {25th International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Virtual Meeting}, booktitle = {25th International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM), Virtual Meeting}, pages = {11 -- 16}, year = {2020}, language = {en} } @techreport{AuerBenekenBrummeretal.2017, author = {Auer, Veronika and Beneken, Gerd and Brummer, Benjamin and Ch{\^a}teauvieux-Hellwig, Camille and Engler, Benjamin and Gilly, Alexander and Hagl, Rainer and Hummel, Felix and Hummel, Sabine and Karlinger, Peter and Knorr, Ludwig and K{\"o}ster, Heinrich and Kucich, Martin and Mecking, Simon and Rabold, Andreas and Sandor, Viktor and Schalk, Daniel and Schanda, Ulrich and Schemme, Michael and Schiffner, Ivonne and Schmidt, Jochen and Schugmann, Reinhard and Seidlmeier, Heinrich and Sigg, Ferdinand and Stauss, Kilian and Sussmann, Monika and Wellisch, Ulrich and Wenninger, Marc and Wittmann, Josef and Zscheile, Matthias}, title = {Jahresbericht 2016, Forschung - Entwicklung - Innovation}, organization = {Hochschule Rosenheim}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:861-opus4-12282}, pages = {68}, year = {2017}, abstract = {Mit dem j{\"a}hrlich erscheinenden Forschungsbericht m{\"o}chte die Hochschule Rosenheim einen Einblick in ihre vielf{\"a}ltigen Projekte und Aktivit{\"a}ten der angewandten Forschung und Entwicklung geben. Im Jahresbericht 2016 wird {\"u}ber Vorhaben im Jahr 2016 berichtet.}, language = {de} } @inproceedings{StubenrauchWittmannKiermayeretal.2017, author = {Stubenrauch, Franz and Wittmann, Josef and Kiermayer, Alexander and Seliger, Norbert and Hagl, Rainer and Schmitt-Landsiedel, Doris and Kennel, Ralph}, title = {FPGA-based High Dynamic Servo Drive Control with a 200kHz Gallium Nitride Inverter}, series = {2017 19th European Conference on Power Electronics and Applications (EPE'17 ECCE Europe), Warsaw, Poland}, booktitle = {2017 19th European Conference on Power Electronics and Applications (EPE'17 ECCE Europe), Warsaw, Poland}, year = {2017}, abstract = {Increased productivity in industrial processes can be achieved by dynamic and accurate positioning of servo drives. Therefore, improvement of servo drive dynamics using latest technologies in the key components such as inverter, control system and position measuring device are investigated. Using Gallium Nitride (GaN) or Silicon Carbide (SiC) semiconductors for motor inverters enables energy efficient operation up to pulse width modulation (PWM) frequencies of 500 kHz. This allows motor filters with small component sizes. As a result, high motor efficiency, low torque ripple, high control bandwidth and almost ideal sinusoidal output voltages are achieved. Experiments on a 200 kHz Gallium Nitride inverter with sine wave motor filter show a current control loop bandwidth of 3.2 kHz and almost ideal sinusoidal phase voltages. The achieved bandwidths of the speed and position control loops are 318 Hz and 106 Hz, respectively.}, language = {en} } @book{HaglKingZentgraf2023, author = {Hagl, Rainer and King, Frank A. and Zentgraf, Peter}, title = {Ingenieurinformatik}, edition = {2}, publisher = {Carl Hanser Verlag GmbH \& Co. KG}, address = {M{\"u}nchen}, doi = {10.3139/9783446477308}, publisher = {Technische Hochschule Rosenheim}, pages = {410}, year = {2023}, abstract = {Umfassende Programmierkenntnisse werden f{\"u}r Ingenieur:innen immer wichtiger, vor allem im Bereich der Produktentwicklung. Die Autoren erkl{\"a}ren die Grundlagen der Ingenieurinformatik beispielhaft anhand von MATLAB, Simulink und Stateflow. Neben den Grundkenntnissen lernen Leser:innen auch die Vorteile von MATLAB im Vergleich zu anderen Programmiersprachen kennen und anzuwenden. Die dabei vorgestellten Zusammenh{\"a}nge und Prinzipien sind allgemeing{\"u}ltig und lassen sich daher auch problemlos auf andere Programmiersprachen {\"u}bertragen. Konkrete Beispiele und Problemstellungen aus der Ingenieurpraxis werden vorgestellt und L{\"o}sungsans{\"a}tze aufgezeigt. Das Lehrbuch richtet sich an Studierende aller ingenieurwissenschaftlichen Studieng{\"a}nge. Es eignet sich besonders f{\"u}r die Bachelorausbildung in den Studienschwerpunkten Elektro- und Informationstechnik, Mechatronik, Maschinenbau, Automatisierungstechnik sowie Energie- und Geb{\"a}udetechnik. F{\"u}r die zweite Auflage wurde das Lehrbuch umfassend {\"u}berarbeitet und an die aktuellen Programmversionen angepasst. Weitere {\"U}bungen mit L{\"o}sungen sowie Hinweise zur Erstellung eigener Apps und Programmbeispiele stehen auf plus.hanser-fachbuch.de zur Verf{\"u}gung. Der auf dem Cover abgebildete Programmcode und die animierte Rakete wurden im Projekt ā€˛water rocket" an der Technischen Hochschule Rosenheim im Jahr 2021 unter der Leitung von Prof. Zentgraf entwickelt. Die Projekt-Unterlagen und der zugeh{\"o}rige Filmbeitrag k{\"o}nnen unter www.th-rosenheim.de/rt-WaterRocket eingesehen werden.}, language = {de} }