This thesis presents a new way of combining non-linear optimization algorithms and electromagnetic transient (EMT) simulation. In this new combination, a non-linear optimization algorithm utilizes a real-time EMT simulation environment as objective function evaluator. However, as more applications of the off-line EMT simulation software implementation were made, the combination between non-linear optimization algorithms and off-line EMT simulation software revealed new need, which this research work attempts to address. The first need arose from the speed of simulation of the off-line EMT simulation software. With a certain breed of non-linear optimization algorithms, heuristics bases algorithms in particular, a large number of objective function evaluations are required before the termination or convergence criterion in the selected algorithms is satisfied. Sometimes, the number of evaluations as well as the complexity of the simulation case where the objective function is based upon translates into a very long simulation time, which goes beyond the boundary of given resources. This research work attempts to address this simulation timing issue by capitalizing on the real timeness of the simulation environment as well as utilizing the multiple instances of the simulation environment in parallel. The second need arose from the modeling requirement of the off-line EMT simulation software. In order to properly design the necessary objective function evaluator, which is largely a simulation case, a large amount of information needs to be embedded into the case. Under certain circumstances, the necessary information would not be available. Therefore, the simulation case needs to include approximations which may cause compromise in the end result. This limitation becomes more obvious when a real world device such as a commercial controller becomes involved. On the contrary, this limitation can be addressed by the real-time simulation environment because this environment can be directly interfaced with the real world device. In this way, the need for detailed information regarding the device is eliminated. This elimination would enlarge the application of the combination, between the non-linear optimization algorithm and EMT type simulation environment. The effectiveness of the proposed approach is demonstrated by various examples throughout this thesis.

This thesis presents a new way of combining non-linear optimization algorithms and electromagnetic transient (EMT) simulation. In this new combination, a non-linear optimization algorithm utilizes a real-time EMT simulation environment as objective function evaluator. However, as more applications of the off-line EMT simulation software implementation were made, the combination between non-linear optimization algorithms and off-line EMT simulation software revealed new need, which this research work attempts to address. The first need arose from the speed of simulation of the off-line EMT simulation software. With a certain breed of non-linear optimization algorithms, heuristics bases algorithms in particular, a large number of objective function evaluations are required before the termination or convergence criterion in the selected algorithms is satisfied. Sometimes, the number of evaluations as well as the complexity of the simulation case where the objective function is based upon translates into a very long simulation time, which goes beyond the boundary of given resources. This research work attempts to address this simulation timing issue by capitalizing on the real timeness of the simulation environment as well as utilizing the multiple instances of the simulation environment in parallel. The second need arose from the modeling requirement of the off-line EMT simulation software. In order to properly design the necessary objective function evaluator, which is largely a simulation case, a large amount of information needs to be embedded into the case. Under certain circumstances, the necessary information would not be available. Therefore, the simulation case needs to include approximations which may cause compromise in the end result. This limitation becomes more obvious when a real world device such as a commercial controller becomes involved. On the contrary, this limitation can be addressed by the real-time simulation environment because this environment can be directly interfaced with the real world device. In this way, the need for detailed information regarding the device is eliminated. This elimination would enlarge the application of the combination, between the non-linear optimization algorithm and EMT type simulation environment. The effectiveness of the proposed approach is demonstrated by various examples throughout this thesis.

This thesis discusses a practical approach to the concurrent analysis and synthesis of reconfigurable robot manipulators based on the alternative design methodology of Linguistic Mechatronics (LM) as well as the utilization of a modular Robotic Hardware-In-the-Loop Simulation (RHILS) platform. Linguistic Mechatronics is a systematic design methodology for mechatronic systems, which formalizes subjective notions and simplifies the optimization process, in the hope that numerous naturally different design variables can be considered concurrently. The methodology redefines the ultimate goal of design based on the qualitative notions of wish and must satisfactions. The underlying concepts of LM are investigated through a simulation case study. In addition, the RHILS platform involving physical joint modules and a control unit, which takes into account various physical phenomena and reduces the simulation complexities, is employed to the design architecture. Ultimately, the new approach is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator.

This thesis presents the design of a platform for testing DC motors over the Internet. The system allows customers to test multiple DC motors under the specific loading conditions of the real world application for which the motor is required. This provides more information than the motor performance charts alone, therefore allowing the user to make a more-informed decision. The architecture is divided into three subsystems: the Motor Test Platform, the Target Software Application and the Server Software Application. A proof-of-concept prototype was built using this architecture. This implementation was evaluated against benchmark tests to determine its capabilities as a simulation and evaluation tool. The positioning system performed well and was able to connect to different Test Motors with any proximal human operation. The positioning system did introduce some error compared to emulation done with manual coupling.

This thesis discusses a practical approach to the concurrent analysis and synthesis of reconfigurable robot manipulators based on the alternative design methodology of Linguistic Mechatronics (LM) as well as the utilization of a modular Robotic Hardware-In-the-Loop Simulation (RHILS) platform. Linguistic Mechatronics is a systematic design methodology for mechatronic systems, which formalizes subjective notions and simplifies the optimization process, in the hope that numerous naturally different design variables can be considered concurrently. The methodology redefines the ultimate goal of design based on the qualitative notions of wish and must satisfactions. The underlying concepts of LM are investigated through a simulation case study. In addition, the RHILS platform involving physical joint modules and a control unit, which takes into account various physical phenomena and reduces the simulation complexities, is employed to the design architecture. Ultimately, the new approach is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator.

This thesis presents the design of a platform for testing DC motors over the Internet. The system allows customers to test multiple DC motors under the specific loading conditions of the real world application for which the motor is required. This provides more information than the motor performance charts alone, therefore allowing the user to make a more-informed decision. The architecture is divided into three subsystems: the Motor Test Platform, the Target Software Application and the Server Software Application. A proof-of-concept prototype was built using this architecture. This implementation was evaluated against benchmark tests to determine its capabilities as a simulation and evaluation tool. The positioning system performed well and was able to connect to different Test Motors with any proximal human operation. The positioning system did introduce some error compared to emulation done with manual coupling.

On a larger scope, improving the hybrid electric vehicles (HEVs) and electric vehicles (EVs) could address the public concern on climate changes and environmental issues. While ongoing research at the University of Waterloo targets improving HEVs and EVs through studying their various components, there was a pressing need to develop setups or tools to assist in the progress of this research. Hence, the primary problem at hand was the time-consuming and costly procedure of developing individual experimental setups/tools for the proposed experiments. The approach taken to solve these interconnected challenges was the design and development of a modular test bench capable of running various hardware-in-the-loop (HIL) studies on HEV powertrain components. The HIL approach was adopted in order to increase the accuracy of computer-generated simulations through the use of physical components in combination with software simulations. MATLAB Simulink software was employed to create the models and programs, which were then downloaded to dSPACE, a device employed to control the various components of the test bench. The scope of this project expanded not only to accommodate specific experimental setups, such as the HWFET drive cycle test, but also to consider modularity requirements that would address unforeseen circumstances and experimental needs. Meeting the modularity requirements would greatly reduce the cost and time needed for running the experiments. As a result of this project, a test bench was developed with four major components: a modular area (for attaching various physical components that comprise the proposed experiment’s setup), a control panel, a dSPACE, and the electrical energy supply and load. Through running various experiments, numerous components of the test bench were characterized. The developed test bench is capable of accommodating various experimental setups as well as producing relevant data for further analysis. The implications of this project are that the ongoing research on HEVs at the University of Waterloo can now employ the test bench to run proposed experiments more effectively in order to obtain more accurate data.

On a larger scope, improving the hybrid electric vehicles (HEVs) and electric vehicles (EVs) could address the public concern on climate changes and environmental issues. While ongoing research at the University of Waterloo targets improving HEVs and EVs through studying their various components, there was a pressing need to develop setups or tools to assist in the progress of this research. Hence, the primary problem at hand was the time-consuming and costly procedure of developing individual experimental setups/tools for the proposed experiments. The approach taken to solve these interconnected challenges was the design and development of a modular test bench capable of running various hardware-in-the-loop (HIL) studies on HEV powertrain components. The HIL approach was adopted in order to increase the accuracy of computer-generated simulations through the use of physical components in combination with software simulations. MATLAB Simulink software was employed to create the models and programs, which were then downloaded to dSPACE, a device employed to control the various components of the test bench. The scope of this project expanded not only to accommodate specific experimental setups, such as the HWFET drive cycle test, but also to consider modularity requirements that would address unforeseen circumstances and experimental needs. Meeting the modularity requirements would greatly reduce the cost and time needed for running the experiments. As a result of this project, a test bench was developed with four major components: a modular area (for attaching various physical components that comprise the proposed experiment’s setup), a control panel, a dSPACE, and the electrical energy supply and load. Through running various experiments, numerous components of the test bench were characterized. The developed test bench is capable of accommodating various experimental setups as well as producing relevant data for further analysis. The implications of this project are that the ongoing research on HEVs at the University of Waterloo can now employ the test bench to run proposed experiments more effectively in order to obtain more accurate data.

Zugl.: München, Techn. Univ., Diss., 2007

Zugl.: München, Techn. Univ., Diss., 2005