Battery energy management plays a crucial role in fuel economy improvement of charge-sustaining parallel hybrid electric vehicles. Currently available control strategies consider battery state of charge (SOC) and driver’s request through the pedal input in decision-making. This method does not achieve an optimal performance for saving fuel or maintaining appropriate SOC level, especially during the operation in extreme driving conditions or hilly terrain. The objective of this thesis is to develop a control algorithm using forthcoming traffic condition and road elevation, which could be fed from navigation systems. This would enable the controller to predict potential of regenerative charging to capture cost-free energy and intentionally depleting battery energy to assist an engine at high power demand. The starting point for this research is the modelling of a small sport-utility vehicle by the analysis of the vehicles currently available in the market. The result of the analysis is used in order to establish a generic mild hybrid powertrain model, which is subsequently examined to compare the performance of controllers. A baseline is established with a conventional powertrain equipped with a spark ignition direct injection engine and a continuously variable transmission. Hybridisation of this vehicle with an integrated starter alternator and a traditional rule-based control strategy is presented. Parameter optimisation in four standard driving cycles is explained, followed by a detailed energy flow analysis. An additional potential improvement is presented by dynamic programming (DP), which shows a benefit of a predictive control. Based on these results, a predictive control algorithm using fuzzy logic is introduced. The main tools of the controller design are the DP, adaptive-network-based fuzzy inference system with subtractive clustering and design of experiment. Using a quasi-static backward simulation model, the performance of the controller is compared with the result from the instantaneous control and the DP. The focus is fuel saving and SOC control at the end of journeys, especially in aggressive driving conditions and a hilly road. The controller shows a good potential to improve fuel economy and tight SOC control in long journey and hilly terrain. Fuel economy improvement and SOC correction are close to the optimal solution by the DP, especially in long trips on steep road where there is a large gap between the baseline controller and the DP. However, there is little benefit in short trips and flat road. It is caused by the low improvement margin of the mild hybrid powertrain and the limited future journey information. To provide a further step to implementation, a software-in-the-loop simulation model is developed. A fully dynamic model of the powertrain and the control algorithm are implemented in AMESim-Simulink co-simulation environment. This shows small deterioration of the control performance by driver’s pedal action, powertrain dynamics and limited computational precision on the controller performance.

Submitted by Fernando Souza (fernandoafsou@gmail.com) on 2017-08-16T14:50:10Z No. of bitstreams: 1 arquivototal.pdf: 3127973 bytes, checksum: 952cbde0e6bee1a7bb48959d05e22840 (MD5) / Made available in DSpace on 2017-08-16T14:50:10Z (GMT). No. of bitstreams: 1 arquivototal.pdf: 3127973 bytes, checksum: 952cbde0e6bee1a7bb48959d05e22840 (MD5) Previous issue date: 2016-01-15 / Simulations often are used in development systems do predict how systems will work on final environment. Many kinds of simulations and techniques are available, one of then is Hardware-in-the-Loop Simulation that provides a more realistic environment by using real devices on simulations. In this work this technique is used with co-simulation between Ptolemy and Stage to provide an multi-robot environment and embedded systems design. It can help to find hardware and software errors during development. High Level Architecture, an IEEE pattern to interoperability between simulators is used to manage time and data that is shared on co-simulation. This work also studies synchronization aspects and uses real robots on simulations to validate proposed environment. / Simulações frequentemente são utilizadas no desenvolvimento de sistemas para prever erros antes de sua implantação no ambiente final. Há uma diversidade entre os tipos e técnicas de simulações, entre elas a de hardware-in-the-loop. Nela dispositivos de hardware são adicionados a simulação para aumentar a realidade dos resultados. Neste trabalho utilizamos esta técnica em conjunto com a cossimulação dos simuladores Stage e Ptolemy para prover um ambiente de simulação multi-robôs e de sistemas embarcados. Este ambiente pode ajudar na detecção de falhas de hardware e de software. O ambiente é integrado por meio do padrão IEEE 1516, a Arquitetura de Alto Nível, que gerencia o tempo de simulação e dados compartilhados durante a simulação. No trabalho são realizadas simulações para estudo do ambiente de sincronização, visto que erros neste sentido podem comprometer os resultados das simulações. Há ainda a utilização de robôs reais para validar o ambiente final desenvolvido.

The motivation for this thesis was the need for further development of multibody dynamics simulation packages focused on detailed contact analysis. The thesis makes contributions in three different areas: Part I summarizes the equations, algorithms and design decisions necessary for dynamics simulation of flexible bodies with moving contacts. The assumed general shape function approach is presented. Additionally, the described technique enables studies of the residual stress release during grinding of flexible bodies. The proposed set of mode shapes was also successfully applied for modeling of heat flow. Part II is motivated by the need to reduce the computation time. The availability of the new cost-efficient multiprocessor computers triggered the development of the presented hybrid parallelization framework. The framework is designed to be easily portable and can be implemented without any system level coding or compiler modifications. Part III is motivated by the need for inter-operation with other simulation tools. A co-simulation framework based on the Transmission Line Modeling (TLM) technology was developed. The framework enables integration of several different simulation components into a single time-domain simulation. The framework has been used for connecting MSC.ADAMS and SKF BEAST simulation models. Throughout the thesis the approach was to present a practitioner roadmap. The detailed description of the theoretical results relevant for a real software implementation is put in focus. The software design decisions are discussed and the results of real industrial simulations are presented. This work has been supported by SKF, SSF/ProViking, ECSEL, KK-stiftelsen.

De part sa nature multi-physique, un pyromécanisme est un système complexe à modéliser et sa simulation nécessite la mise en oeuvre de plusieurs ressources de calcul spécifiques couplées. Le but de ce travail est de fournir un outil numérique capable de modéliser un pyromécanisme et de simuler son fonctionnement en intégrant les interfaces nécessaires au pilotage des différentes ressources de calcul. La faisabilité d'un tel outil est illustrée pour un pyromécanisme spécifique : l'enrouleur pyrotechnique de ceinture. La conception de l'outil numérique proposé est basée sur l'approche Orienté Objet (OO) pour modéliser la structure technologique du pyromécanisme et l'interfaçage avec les ressources de calcul externes. Le modèle OO technologique est construit par héritage des modèles Core Product Model (CPM) et Open Assembly Model (OAM) développés au NIST (National Institute of Standards and Technology). Grâce aux modèles CPM-OAM, un système mécanique peut être décrit comme une hiérarchie d'assemblages et de pièces, reliés par des liaisons cinématiques. La simulation complète du pyromécanisme enrouleur de ceinture requiert des ressources de calcul spécifiques : Un module simulant le fonctionnement du générateur de gaz de l'enrouleur a été développé, implémenté sous Scilab. Ce module calcule la pression exercée par le générateur de gaz sur la chaîne cinématique chargée de transmettre le mouvement jusqu'à la bobine enroulant la ceinture. L'une d'une bibliothèque C++ de calcul dynamique de solides rigides existante, Chrono::Engine, permet la simulation de la chaîne cinématique soumise à cette pression. L'outil numérique fournit l'ensemble des paramètres nécessaires aux ressources de calcul et pilote la co-simulation entre ces ressources (programme Scilab de combustion et calcul mécanique Chrono::Engine). L'identification des paramètres des modèles mis en oeuvre nécessite de caractériser expérimentalement le comportement des sous-systèmes, comme le générateur de gaz, et des composants déformables (barre de torsion intégrée dans la chaîne cinématique et ceinture de sécurité). Des dispos tifs d'essais conçus spécifiquement permettent l'identification le comportement de ces composants, soumis à des sollicitations dynamiques. La validation du démonstrateur réalisé en C++ est basée sur la comparaison des résultats des simulations avec les résultats d'essais expérimentaux du système entier l'enrouleur de ceinture. / The simulation of a pyromechanism is a complex task because of its multi-physics intrinsic nature. Consequently, various computing resources are needed to simulate each physical aspect. The goal of this project is to provide a numerical tool able to model a pyromechanism and to interface the different computing resources in order to simulate an equipment. Feasibility of such a tool is illustrated with a specific pyromechanism : pyrotechnic belt retractor. The design of the numerical tool is based on an Object Oriented Approach (OOA) to model both the technological aspects of the pyromechanism and the interfaces with computing resources. The technological OO model is based on “Core Product Model” (CPM) and on “Open Assembly Model” (OAM) of the NIST (National Institute of Standards and Technology). Thanks to CPM-OAM model, any mechanism can be described as a hierarchy of assemblies and parts, linked by associations (connections, kinematic link,...). The full simulation of the pyromechanism requires external computing resources: - a model for simulating a gas generator implemented under Scilab. It computes the pressure produced by the gas generator, coupled with displacement of the mechanical load. - a C++ library for mechanical simulation of rigid bodies : ChronoEngine the response of the mechanical system computed kinematic response under pressure from gas generator. The resulting software provides all parameters needed by these external computing resources and drives the ballistic and mechanical co-simulation. Parameter identifications of models ask for experimental characterization of sub-system, as gas generator and deformable part (torsion bar and safety belt). Experimental devices has been developed for identifying behavioral law under dynamic load. Validation of demonstrator, written in C++, is based on comparison between simulation results and experimental results of the pyrotechnic retractor.

The forwarder acts as an important role in mechanized Cut-to-Length timber harvesting system. But the majority of forwarder products on the market are not suspended or simply suspended by bogies which limit the riding quality of forwarder and result in soil damage due to large tireground interaction force. The Forestry Research Institute of Sweden is developing an active controlled pendulum arm suspension system actuated by hydraulic cylinders on the forwarder prototype named XT28. The aim of this active suspension system is to compensate the inherent shortcomings of the current suspension solutions. The thesis project focuses on implementing a heterogeneous simulation methodology which integrates the Multi-Body System model of XT28 built in MSC ADAMS/View with active suspension control model developed in MATLAB/Simulink. Thus, the co-simulation process is visualized in ADAMS/View. The results show that the active controlled pendulum arm suspension could improve the riding quality in a large extend and reduce the force between tire and ground at the same time. The cosimulation between ADAMS and Simulink is proved as a feasible and efficient approach to study the active control system for pendulum arm suspension on XT28 forwarder. / Skotaren har tillsammans med skördaren en central roll i den fullt mekaniserade kortvirkesmetoden för skogsavverkning. Majoriteten av dagens skotare på marknaden har sex eller åtta hjul, som är monterade parvis på boggilådor. Det innebär att de saknar chassidämpning, vilket begränsar operatörens komfort och orsakar även stora markskador på mjuk mark. Skogforsk koordinerar realiseringen av en fullskaleprototyp, som går under arbetsnamnet XT28, med sex hjul monterade på varsin pendelarm. Pendelarmarna har varsin hydraulcylinder som möjliggör aktiv helmaskinsdämpning. Detta examensarbete är inriktat på att skapa, demonstrera och verifiera en heterogen simuleringsmetodik, som integrerar och möjliggör samsimulering av en dynamisk mekanikmodell utvecklad i MSC Adams/View med en reglermodell för aktiv styrning av pendelarmarna. Reglermodellen har utvecklats i MATLAB / Simulink. Simuleringsresultaten, som visualiseras i Adams-miljön, visar att den aktiva pendelarmregleringen skulle kunna förbättra åkkomforten signifikant, och också kraftigt markkontaktkrafterna. Det visas att samsimulering mellan ADAMS och Simulink är en effektiv metod för att verifiera prestandan hos aktiva reglersystem för pendelarmsfjädring på prototypskotaren XT28.

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The demands on heavy duty vehicles is constantly raising with government legislations on CO2 emissions becoming stricter and increasing customer demands. A continuous search for new methods and tools is a crucial element in finding more performance and lower emissions, which are prerequisites for heavy duty vehicles of the future. This thesis is conducted at Scania CV AB and aims at proposing a co-simulation setup which implements the engine management system, EMS, for turbocharger control, into engine simulation models that the company uses to simulate the behaviour of their combustion engines. The EMS software for turbocharger control is modelled in a MATLAB Simulink model and the engine simulation model is modelled in GT-SUITE. The thesis is also suggesting improvements to a turbine model that is modelled within the given EMS software. The results suggest a co-simulation setup that enables the engine simulation models to utilize the EMS software for turbocharger control which thereby enhances their ability to predict engine behaviour. The setup can also be used as a tool during the development process for other part of the EMS and could ease the need for physical engine tests in test cell. The suggested improvements to the turbine model revolves around building a model capturing the aspects of a so called twin scroll turbine and also to implement a better estimation of the turbine efficiency. The improvements to the turbine model ultimately leads to improving the response behaviour of the EMS turbocharger control system.

Internal combustion engines, electric motors and batteries generate a significant amount of heat during operation that needs to be extracted by cooling systems. A cooling system is designed and installed to extract the generated heat and maintain the system temperature in an optimal range. Overheating has several unfavorable outcomes such as less durability and lower energy efficiency. The cooling system consists of several components such as hoses, flow splitters, valves, heat exchangers, coolant, pump, etc. The coolant, as the working fluid, is pumped to different heat generator component to enable the cooling down process. Computational Fluid Dynamics (CFD) is a powerful and cost efficient tool to simulate the cooling processes, design, and evaluate the performance of a cooling system. Generally, one dimensional CFD is a common approach to interpret and explain the cooling processes in the automotive industry due to its high flexibility and computational cost efficiency. Also, three dimensional CFD is employed whenever it is required to study complex physical phenomena and provide detailed information. Additionally, it is possible to couple one dimensional and three dimensional CFD approaches to simulate cooling processes. Not only is the coupled 1D-3D CFD approach able to capture complicated physical processes but also is flexible and cost efficient. The objective of this master thesis is to implement 1D-3D CFD coupled simulation on internal combustion engines’ cooling system and evaluate the advantages and disadvantages of this method. The performance of this method is examined in different case studies with different flow and geometrical characteristics. The effect of various turbulence models and numerical settings are investigated on the quality of the coupled simulations’ results. The coupled simulations are carried out using GT-SUITE and STAR-CCM+ software. The performed simulations show that the coupling method is a convenient approach which is able to capture detailed physics with high precision requiring reasonable computational costs. The results of the coupled simulations depict agreement with the uncoupled 1D CFD simulations, although some discrepancies are observed in complex case studies. Also, it is shown that the coupled simulations are sensitive to numerical settings and physical models, consequently, the case setup should be optimized carefully. / Förbränningsmotorer, elmotorer och batterier genererar en betydande mängd värme under drift som behöver extraheras av kylsystem. Ett kylsystem är utformat och installerat för att extrahera den genererade värmen och hålla systemtemperaturen i ett optimalt intervall. Överhettning har flera ogynnsamma följder, som mindre hållbarhet och lägre energieffektivitet. Kylsystemet består av flera komponenter, till exempel slangar, flödesdelare, ventiler, värmeväxlare, kylvätska, pump etc. Kylvätskan, som arbetsvätska pumpas till olika värmegenerator-komponenter för att möjliggöra nedkylningsprocessen.Computational Fluid Dynamics (CFD) är ett kraftfullt och kostnadseffektivt verktyg för att simulera kylprocesserna, utforma och utvärdera prestanda för ett kylsystem. I allmänhet är endimensionell CFD en vanlig metod för att tolka och förklara kylningsprocesserna i bilindustrin på grund av dess höga flexibilitet och beräkningseffektivitet. Dessutom används tredimensionell CFD när det krävs, för att studera komplexa fysiska fenomen och tillhandahålla detaljerad information. Dessutom är det möjligt att koppla ihop en- och tredimensionell CFD-metod för att simulera kylningsprocesser. Inte bara är den kopplade 1D-3D CFD-metoden möjlig för att betrakta komplicerade fysiska processer, utan är även flexibel och kostnadseffektiv.Syftet med detta examensarbete är att implementera 1D-3D CFD kopplad simulering på förbränningsmotorns kylsystem och utvärdera fördelarna och nackdelarna med denna metod. Uppträdandet av denna metod undersöks i olika fallstudier med olika flöde och geometriska egenskaper. Effekterna av olika turbulensmodeller och numeriska inställningar undersöks genom kvaliteten på resultaten hos kopplingens simuleringar. De kopplade simuleringarna utförs med hjälp av mjukvaran GT-SUITE och STAR CCM +.De utförda simuleringarna visar att kopplingsmetoden är ett bekvämt tillvägagångssätt som kan fånga detaljerad fysik med hög precision till rimliga beräkningskostnader. Resultaten av de kopplade simuleringarna visar överensstämmelse med de frikopplade 1D CFD-simuleringarna, även om vissa avvikelser observeras i komplexa fallstudier. Det visas också att de kopplade simuleringarna är känsliga för numeriska inställningar och fysiska modeller, därför bör fallinställningen optimeras noggrant.

The vision of the smart grid is predicated upon pervasive use of modern digital communication techniques in today's power system. As wide area measurements and control techniques are being developed and deployed for a more resilient power system, the role of communication networks is becoming prominent. Advanced communication infrastructure provides much wider system observability and enables globally optimal control schemes. Wide area measurement and monitoring with Phasor Measurement Units (PMUs) or Intelligent Electronic Devices (IED) is a growing trend in this context. However, the large amount of data collected by PMUs or IEDs needs to be transferred over the data network to control centers where real-time state estimation, protection, and control decisions are made. The volume and frequency of such data transfers, and real-time delivery requirements mandate that sufficient bandwidth and proper delay characteristics must be ensured for the correct operations. Power system dynamics get influenced by the underlying communication infrastructure. Therefore, extensive integration of power system and communication infrastructure mandates that the two systems be studied as a single distributed cyber-physical system. This dissertation proposes a global event-driven co-simulation framework, which is termed as GECO, for interconnected power system and communication network. GECO can be used as a design pattern for hybrid system simulation with continuous/discrete sub-components. An implementation of GECO is achieved by integrating two software packages: PSLF and NS2 into the framework. Besides, this dissertation proposes and studies a set of power system applications which can be only properly evaluated on a co-simulation framework like GECO, namely communication-based distance relay protection, all-PMU state estimation and PMU-based out-of-step protection. All of them take advantage of interplays between the power grid and the communication infrastructure. The GECO experiments described in this dissertation not only show the efficacy of the GECO framework, but also provide experience on how to go about using GECO in smart grid planning activities. / Ph. D.

Viele Arbeitsprozesse in der Bau- und Fördermaschinentechnik, Lebensmittelindustrie oder Verfahrenstechnik sind gekennzeichnet durch die Interaktion mit Schüttgütern. Beispiele hierfür sind die Gewinnung und der Transport von Erd- und Rohstoffen sowie die Verarbeitung von Getreide, Mais, Pellets oder Granulaten. Zur Abbildung der partikel-mechanischen Vorgänge hat sich die Diskrete Elemente Methode (DEM) als geeignetes Simulationsverfahren etabliert. Für eine prospektive Analyse der Wechselwirkungen zwischen Schüttgut und Maschine ist es notwendig diese Methodik mit einem domänen-übergreifenden Systemmodell zu verknüpfen. Es wird eine Lösung vorgestellt, welche eine geschlossene Modellierung und Simulation der DEM in der Software SimulationX ermöglicht.