15 Fakultätsübergreifend / Sonstige Einrichtung

Permanent URI for this collectionhttps://elib.uni-stuttgart.de/handle/11682/16

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Start date: 2010End date: 2019

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    Detection of wind evolution and lidar trajectory optimization for lidar-assisted wind turbine control
    (2015) Schlipf, David; Haizmann, Florian; Cosack, Nicolai; Siebers, Tom; Cheng, Po Wen
    In this work a collective pitch feedforward controller for floating wind turbines is presented. The feedforward controller provides a pitch rate update to a conventional feedback controller based on a wind speed preview. The controller is designed similar to the one for onshore turbines, which has proven its capability to improve wind turbine control performance in field tests. In a first design step, perfect wind preview and a calm sea is assumed. Under these assumptions the feedforward controller is able to compensate almost perfectly the effect of changing wind speed to the rotor speed of a full nonlinear model over the entire full load region. In a second step, a nacelle-based lidar is simulated scanning the same wind field which is used also for the aero-hydro-servo-elastic simulation. With model-based wind field reconstruction methods, the rotor effective wind speed is estimated from the raw lidar data and is used in the feedforward controller after filtering out the uncorrelated frequencies. Simulation results show that even with a more realistic wind preview, the feedforward controller is able to significantly reduce rotor speed and power variations. Furthermore, structural loads on the tower, rotor shaft, and blades are decreased. A comparison to a theoretical investigation shows that the reduction in rotor speed regulation is close to the optimum.
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    Comparison of Taguchi Method and Robust Design Optimization (RDO) : by application of a functional adaptive simulation model for the robust product-optimization of an adjuster unit
    (2015) Kemmler, Stefan; Fuchs, Alexander; Leopold, Tobias; Bertsche, Bernd
    Current research and development have been trending towards approaches based on simulation and virtual testing. Industrial development processes for complex products employ optimization methods to ensure results are close to reality, simultaneously minimizing required resources. The results of virtual testing are optimized in accordance with requirements using optimization techniques. Robust Design Optimization (RDO) is one established approach to optimization. RDO is based on the identification of an optimal parameter set which includes a small variance of the target value as a constraint. Under most circumstances, this approach does not involve separate optimization of the target value and target variance. However, the basic strategy of the optimization approach developed by Taguchi is to first optimize the parameter sets for the target value and then optimize and minimize the target variance. According to an application example , the benefit of Taguchi's approach (TM) is that it facilitates the identification of an optimal parameter set of nominal values for technical feasibility and possible manufacturing. If an optimal parameter set is determined, the variance can be minimized under consideration of process parameters. This paper examines and discusses the differences between and shared characteristics of the robust optimization methods TM and RDO, and discusses their shortcomings. In order to provide a better illustration, this paper explains and applies both methods using an adjuster unit of a commercial vehicle braking system. A simulation model is developed including an appropriate work ow by applying optiSLang-modules.
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    Comparative sensitivity analysis of muscle activation dynamics
    (2015) Rockenfeller, Robert; Günther, Michael; Schmitt, Syn; Götz, Thomas
    We mathematically compared two models of mammalian striated muscle activation dynamics proposed by Hatze and Zajac. Both models are representative for a broad variety of biomechanical models formulated as ordinary differential equations (ODEs). These models incorporate parameters that directly represent known physiological properties. Other parameters have been introduced to reproduce empirical observations. We used sensitivity analysis to investigate the influence of model parameters on the ODE solutions. In addition, we expanded an existing approach to treating initial conditions as parameters and to calculating second- order sensitivities. Furthermore, we used a global sensitivity analysis approach to include finite ranges of parameter values. Hence, a theoretician striving for model reduction could use the method for identifying particularly low sensitivities to detect superfluous parameters. An experimenter could use it for identifying particularly high sensitivities to improve parameter estimation. Hatze’s nonlinear model incorporates some parameters to which activation dynamics is clearly more sensitive than to any parameter in Zajac’s linear model. Other than Zajac’s model, Hatze’s model can, however, reproduce measured shifts in optimal muscle length with varied muscle activity. Accordingly we extracted a specific parameter set for Hatze’s model that combines best with a particular muscle force-length relation.
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    Design and evaluation of a lidar-based feedforward controller for the INNWIND.EU 10 MW wind turbine
    (2015) Fürst, Holger; Schlipf, David; Iribas Latour, Mikel; Cheng, Po Wen
    For the development of the next generation of multi megawatt wind turbines, advanced control concepts are one of the major tasks. Reduction of fatigue and extreme loading could help to improve the overall design process and make plants more cost effective. This work deals with the application of the promising methodology of feedforward control using nacelle-based lidar sensor measurements on a 10 MW wind turbine concept. After lidar data processing has been described, the feedforward controller is designed such that disturbances from the changing wind speed to the generator speed are compensated by adding an update to the collective pitch rate signal of the normal feedback controller. The evaluation of the feedforward controller is done in two steps: Firstly, simulations using perfect lidar data measurements are applied to check the robustness of the controller against model uncertainties. After that, simulations with realistic lidar measurements are investigated. To improve control performance, the scanning configuration of the used lidar system is optimized. Over all it can be shown that lidar-assisted control leads to significant load reductions, especially in the full load region of the 10 MW turbine.
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    Are comprehensive quality models necessary for evaluating software quality?
    (2013) Lochmann, Klaus; Ramadani, Jasmin; Wagner, Stefan
    The concept of software quality is very complex and has many facets. Reflecting all these facets and at the same time measuring everything related to these facets results in comprehensive but large quality models and extensive measurements. In contrast, there are also many smaller, focused quality models claiming to evaluate quality with few measures. We investigate if and to what extent it is possible to build a focused quality model with similar evaluation results as a comprehensive quality model but with far less measures needed to be collected and, hence, reduced effort. We make quality evaluations with the comprehensive Quamoco base quality model and build focused quality models based on the same set of measures and data from over 2,000 open source systems. We analyse the ability of the focused model to predict the results of the Quamoco model by comparing them with a random predictor as a baseline. We calculate the standardised accuracy measure SA and effect sizes. We found that for the Quamoco model and its 378 automatically collected measures, we can build a focused model with only 10 measures but an accuracy of 61% and a medium to high effect size. We conclude that we can build focused quality models to get an impression of a system’s quality similar to comprehensive models. However, when including manually collected measures, the accuracy of the models stayed below 50%. Hence, manual measures seem to have a high impact and should therefore not be ignored in a focused model.
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    Ermüdungsverhalten von Stahlkonstruktionen unter multiaxialer Beanspruchung durch Radlasten : ausführlicher Bericht zum Forschungsvorhaben
    (2016) Kuhlmann, Ulrike; Roos, Eberhard; Herion, Stefan; Euler, Mathias; Rettenmeier, Philipp; Lipp, Andreas
    Im Hochbau, im Kranbau und in der Fördertechnik treten durch die Bewegung von Gütern und Maschinen wandernde Einzellasten auf, die in der Regel als Radlasten auf die meist aus Stahl hergestellten Tragkonstruktionen einwirken. Die Anschlüsse und Verbindungen dieser Konstruktionen erfahren im Bereich der Radlasteinleitung einen Spannungszustand aus lokalen Druck- und Schubspannungen, die sich mit globalen Spannungen aus Trägerbiegung und Querkraftschub überlagern. Da sich dieser mehrachsige Spannungszustand bei jeder Überrollung einstellt, können Ermüdungsschäden an den Anschlüssen und Verbindungen die Folge sein. Im Gegensatz zu den alten nationalen Bemessungsregeln für Krane und Kranbahnen, die vergleichbare Berechnungs- und Festigkeitsansätze für den Ermüdungsnachweis auf Basis von Nennspannungen enthielten, unterscheiden sich die neuen europäischen Bemessungsregeln für Krane und Kranbahnen. In der Folge werden eine Reihe von Konstruktionsdetails mit Radlasteinleitung bei Kranen im Vergleich zu Kranbahnen bei baugleicher Ausführung günstiger hinsichtlich ihrer Ermüdungsfestigkeit eingestuft. Die Kerbfalleinstufung dieser Konstruktionsdetails wird dabei in allen Bemessungsnormen bislang theoretisch hergeleitet, da entsprechende Ermüdungsversuche fehlen. Der Unterschied zwischen den alten nationalen und neuen europäischen Bemessungsregeln beruht teilweise auf einer abweichenden Berücksichtigung des Einflusses der Eigenspannungen auf die Ermüdungsfestigkeit von geschweißten Verbindungen. Die europäischen Bemessungsregeln unterstellen hohe Eigenspannungen und vernachlässigen daher einen Mittelspannungseinfluss. Der Kerbfallkatalog der Bemessungsnormen ist begrenzt und enthält beispielsweise keine Einstufung für das häufig ausgeführte Konstruktionsdetail der aufgeschweißten Kranschiene mit Radlasteinleitung. Der begrenzte Kerbfallkatalog stellt für die Ermüdungsbewertung von neuartigen Konstruktionen ein Hindernis dar. Es wird ein Überblick über die bekannten Ermüdungsversuche zu den Konstruktionsdetails mit Radlasteinleitung gegeben. Die bekannten Bewertungskonzepte für Schweißverbindungen bei mehrachsiger Ermüdungsbeanspruchung werden vorgestellt. Der Erkenntnisstand zur Entstehung von Eigenspannungen und deren Einfluss auf die Ermüdungsfestigkeit von Schweißverbindungen wird beschrieben. Es wird ein Versuchsprogramm aus Ermüdungsversuchen an Kranbahnträgern mit aufgeschweißter Kranschiene und an einer neuartigen Kranbahnkonstruktion mit Obergurten aus Hohlprofilen unter ortsfest schwellender und überrollender Radlast entwickelt. Die Untersuchung beider Arten von Radlasten berücksichtigt, dass überrollende Radlasten zu einer nichtproportional und ortfest schwellende Radlasten zu einer proportional mehrachsigen Ermüdungsbeanspruchung führen. Die Ermittlung der Ermüdungsfestigkeit der untersuchten Kranbahnträger erfolgt auf Basis von Nenn-, Struktur- und Kerbspannungen. Bei der Bewertung der mehrachsigen Ermüdungsbeanspruchung werden sowohl die klassischen Schwingfestigkeitshypothesen als auch neuere Bewertungsansätze wie die Hypothesen der kritischen Schnittebene und der integralen Anstrengung angewendet. Durch eine Schweißsimulation, die durch fertigungsbegleitende Temperaturmessungen kalibriert wird, werden für die Kranbahnträger mit aufgeschweißter Kranschiene Anhaltswerte für die Höhe der Schweißeigenspannungen als Eingangsgröße für die Ermüdungsbewertung hergeleitet.
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    Comparison of linear and nonlinear model predictive control of wind turbines using LIDAR
    (2014) Schlipf, David; Grau, Patrick; Raach, Steffen; Duraiski, Ricardo; Trierweiler, Jorge; Cheng, Po Wen
    Recent developments in remote sensing are offering a promising opportunity to rethink conventional control strategies of wind turbines. With technologies such as LIDAR, the information about the incoming wind field - the main disturbance to the system - can be made available ahead of time. Feedforward control can be easily combined with traditional collective pitch feedback controllers and has been successfully tested on real systems. Nonlinear model predictive controllers adjusting both collective pitch and generator torque can further reduce structural loads in simulations but have higher computational times compared to feedforward or linear model predictive controller. This paper compares a linear and a commercial nonlinear model predictive controller to a baseline controller. On the one hand simulations show that both controller have significant improvements if used along with the preview of the rotor effective wind speed. On the other hand the nonlinear model predictive controller can achieve better results compared to the linear model close to the rated wind speed.
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    An adaptive data processing technique for lidar-assisted control to bridge the gap between lidar systems and wind turbines
    (2015) Schlipf, David; Fleming, Paul; Raach, Steffen; Scholbrock, Andrew; Haizmann, Florian; Krishnamurthy, Raghu; Boquet, Matthieu; Cheng, Po Wen
    This paper presents first steps toward an adaptive lidar data processing technique crucial for lidar-assisted control in wind turbines. The prediction time and the quality of the wind preview from lidar measurements depend on several factors and are not constant. If the data processing is not continually adjusted, the benefit of lidar-assisted control cannot be fully exploited or can even result in harmful control action. An online analysis of the lidar and turbine data is necessary to continually reassess the prediction time and lidar data quality. In this work, a structured process to develop an analysis tool for the prediction time and a new hardware setup for lidar-assisted control are presented. The tool consists of an online estimation of the rotor effective wind speed from lidar and turbine data and the implementation of an online cross-correlation to determine the time shift between both signals. Further, we present initial results from an ongoing campaign in which this system was employed for providing lidar preview for feedforward pitch control.
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    Improved tank test procedures for scaled floating offshore wind turbines
    (2014) Müller, Kolja; Sandner, Frank; Bredmose, Henrik; Azcona, José; Manjock, Andreas; Pereira, Ricardo
    This study collects issues from previous tank test campaigns of scaled Floating Offshore Wind Turbines (FOWT), compares the different scaling methodologies, points out critical aspects and shows possible alternatives and recommendations for future tests depending on the specific objective. Furthermore, it gives practical recommendations for the modeling and construction of scaled rotors. The presented scaling procedure will be applied in tank tests within the EU Seventh Framework Program InnWind (ENERGY.2012.2.3.1 "Innovative wind conversion systems (10-20MW) for offshore applications").
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    Scheduling & routing time-triggered traffic in time-sensitive networks
    (2018) Nayak, Naresh Ganesh; Rothermel, Kurt (Prof. Dr. rer. nat. Dr. h. c.)
    The application of recent advances in computing, cognitive and networking technologies in manufacturing has triggered the so-called fourth industrial revolution, also referred to as Industry 4.0. Smart and flexible manufacturing systems are being conceived as a part of the Industry 4.0 initiative to meet the challenging requirements of the modern day manufacturers, e.g., production batch sizes of one. The information and communication technologies (ICT) infrastructure in such smart factories is expected to host heterogeneous applications ranging from the time-sensitive cyber-physical systems regulating physical processes in the manufacturing shopfloor to the soft real-time analytics applications predicting anomalies in the assembly line. Given the diverse demands of the applications, a single converged network providing different levels of communication guarantees to the applications based on their requirements is desired. Ethernet, on account of its ubiquity and its steadily growing performance along with shrinking costs, has emerged as a popular choice as a converged network. However, Ethernet networks, primarily designed for best-effort communication services, cannot provide strict guarantees like bounded end-to-end latency and jitter for real-time traffic without additional enhancements. Two major standardization bodies, viz., the IEEE Time-sensitive Networking (TSN) Task Group (TG) and the IETF Deterministic Networking (DetNets) Working Group are striving towards equipping Ethernet networks with mechanisms that would enable it to support different classes of real-time traffic. In this thesis, we focus on handling the time-triggered traffic (primarily periodic in nature) stemming from the hard real-time cyber-physical systems embedded in the manufacturing shopfloor over Ethernet networks. The basic approach for this is to schedule the transmissions of the time-triggered data streams appropriately through the network and ensure that the allocated schedules are adhered with. This approach leverages the possibility to precisely synchronize the clocks of the network participants, i.e., end systems and switches, using time synchronization protocols like the IEEE 1588 Precision Time Protocol (PTP). Based on the capabilities of the network participants, the responsibility of enforcing these schedules can be distributed. An important point to note is that the network utilization with respect to the time-triggered data streams depends on the computed schedules. Furthermore, the routing of the time-triggered data streams also influences the computed transmission schedules, and thus, affects the network utilization. The question however remains as to how to compute transmission schedules for time-triggered data streams along with their routes so that an optimal network utilization can be achieved. We explore, in this thesis, the scheduling and routing problems with respect to the time-triggered data streams in Ethernet networks. The recently published IEEE 802.1Qbv standard from the TSN-TG provides programmable gating mechanisms for the switches enabling them to schedule transmissions. Meanwhile, the extensions specified in the IEEE 802.1Qca standard or the primitives provided by OpenFlow, the popular southbound software-defined networking (SDN) protocol, can be used for gaining an explicit control over the routing of the data streams. Using these mechanisms, the responsibility of enforcing transmission schedules can be taken over by the end systems as well as the switches in the network. Alternatively, the scheduling can be enforced only by the end systems or only by the switches. Furthermore, routing alone can also be used to isolate time-triggered data streams, and thus, bound the latency and jitter experienced by the data streams in absence of synchronized clocks in the network. For each of the aforementioned cases, we formulate the scheduling and routing problem using Integer Linear Programming (ILP) for static as well as dynamic scenarios. The static scenario deals with the computation of schedules and routes for time-triggered data streams with a priori knowledge of their specifications. Here, we focus on computing schedules and routes that are optimal with respect to the network utilization. Given that the scheduling problems in the static setting have a high time-complexity, we also present efficient heuristics to approximate the optimal solution. With the dynamic scheduling problem, we address the modifications to the computed transmission schedules for adding further or removing already scheduled time-triggered data streams. Here, the focus lies on reducing the runtime of the scheduling and routing algorithms, and thus, have lower set-up times for adding new data streams into the network.