TY - CHAP A1 - Wittig, M. A1 - Rütters, René A1 - Bragard, Michael ED - Reiff-Stephan, Jörg ED - Jäkel, Jens ED - Schwarz, André T1 - Application of RL in control systems using the example of a rotatory inverted pendulum T2 - Tagungsband AALE 2024 : Fit für die Zukunft: praktische Lösungen für die industrielle Automation N2 - In this paper, the use of reinforcement learning (RL) in control systems is investigated using a rotatory inverted pendulum as an example. The control behavior of an RL controller is compared to that of traditional LQR and MPC controllers. This is done by evaluating their behavior under optimal conditions, their disturbance behavior, their robustness and their development process. All the investigated controllers are developed using MATLAB and the Simulink simulation environment and later deployed to a real pendulum model powered by a Raspberry Pi. The RL algorithm used is Proximal Policy Optimization (PPO). The LQR controller exhibits an easy development process, an average to good control behavior and average to good robustness. A linear MPC controller could show excellent results under optimal operating conditions. However, when subjected to disturbances or deviations from the equilibrium point, it showed poor performance and sometimes instable behavior. Employing a nonlinear MPC Controller in real time was not possible due to the high computational effort involved. The RL controller exhibits by far the most versatile and robust control behavior. When operated in the simulation environment, it achieved a high control accuracy. When employed in the real system, however, it only shows average accuracy and a significantly greater performance loss compared to the simulation than the traditional controllers. With MATLAB, it is not yet possible to directly post-train the RL controller on the Raspberry Pi, which is an obstacle to the practical application of RL in a prototyping or teaching setting. Nevertheless, RL in general proves to be a flexible and powerful control method, which is well suited for complex or nonlinear systems where traditional controllers struggle. KW - Rotatory Inverted Pendulum KW - MPC KW - LQR KW - PPO KW - Reinforcement Learning Y1 - 2024 SN - 978-3-910103-02-3 U6 - http://dx.doi.org/10.33968/2024.53 N1 - 20. AALE-Konferenz. Bielefeld, 06.03.-08.03.2024. (Tagungsband unter https://doi.org/10.33968/2024.29) SP - 241 EP - 248 PB - le-tex publishing services GmbH CY - Leipzig ER - TY - CHAP A1 - Schmiegel, A. A1 - Koch, K. A1 - Dittmer, M. A1 - Braun, M. A1 - Landau, M. A1 - Dick, C. A1 - Bragard, Michael A1 - [u.a.], T1 - Das Sol-ion System : ein System zur Optimierung des Eigenverbrauchs von PV-Strom T2 - Photovoltaische Solarenergie : 25. Symposium ; 03. - 05. März 2010, Kloster Banz, Bad Staffelstein. - (Wissen für Profis) Y1 - 2010 SN - 978-3-941785-23-6 SP - 354 EP - 359 PB - OTTI, Ostbayerisches Technologie-Transfer-Inst. CY - Regensburg ER - TY - CHAP A1 - Schiffer, Fabian A1 - Bragard, Michael T1 - Cascaded LQ and Field-Oriented Control of a Mobile Inverse Pendulum (Segway) with Permanent Magnet Synchronous Machines T2 - 2019 20th International Conference on Research and Education in Mechatronics (REM) Y1 - 2019 SN - 978-1-5386-9257-8 U6 - http://dx.doi.org/10.1109/REM.2019.8744101 SP - 1 EP - 8 ER - TY - CHAP A1 - Rütters, René A1 - Weinheimer, Marius A1 - Bragard, Michael T1 - Teaching Control Theory with a Simplified Helicopter Model and a Classroom Fitting Hardware Test-Bench T2 - 2018 IEEE 59th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON) Y1 - 2018 SN - 978-1-5386-6903-7 U6 - http://dx.doi.org/10.1109/RTUCON.2018.8659871 ER - TY - CHAP A1 - Ostkotte, Sebastian A1 - Peters, Constantin A1 - Hüning, Felix A1 - Bragard, Michael T1 - Design, implementation and verification of an rotational incremental position encoder based on the magnetic Wiegand effect T2 - 2022 ELEKTRO (ELEKTRO) N2 - This paper covers the use of the magnetic Wiegand effect to design an innovative incremental encoder. First, a theoretical design is given, followed by an estimation of the achievable accuracy and an optimization in open-loop operation. Finally, a successful experimental verification is presented. For this purpose, a permanent magnet synchronous machine is controlled in a field-oriented manner, using the angle information of the prototype. KW - Position Encoder KW - Rotational Encoder KW - Wiegand Effect KW - Angle Sensor KW - Incremental Encoder Y1 - 2022 SN - 978-1-6654-6726-1 SN - 978-1-6654-6727-8 U6 - http://dx.doi.org/10.1109/ELEKTRO53996.2022.9803477 SN - 2691-0616 N1 - 2022 ELEKTRO (ELEKTRO), 23-26 Mai 2022, Krakow, Poland. PB - IEEE ER - TY - CHAP A1 - Nötzold, K. A1 - Uphues, A. A1 - Wegener, R. A1 - Soter, S. A1 - Fink, K. A1 - Bragard, Michael A1 - Griessel, R. T1 - Inverter based test setup for LVRT verification of a full-scale 2 MW wind power converter T2 - EPE Joint Wind Energy and T&D Chapters Seminar : 28th and 29th of June 2012, in the Utzon Centre, Aalborg, Denmark ; papers, posters, presentations. - Session 2: Grid connection, compliance Y1 - 2012 PB - EPE Association CY - Brussels ER - TY - CHAP A1 - Nötzold, K. A1 - Uphues, A. A1 - Wegener, R. A1 - Fink, K. A1 - Bragard, Michael A1 - Griessel, R. A1 - Soter, S. T1 - Inverter based test setup for LVRT verification of a full-scale 2 MW wind power converter T2 - 15th European Conference on Power Electronics and Applications (EPE), 2013 : 2 - 6 Sept. 2013, Lille, France / [EPE Association; PELS, IEEE Power Electronics Society] Y1 - 2013 SN - 978-1-4799-0115-9 (Online-Ausg.) U6 - http://dx.doi.org/10.1109/EPE.2013.6634752 SP - 1037 EP - 1042 PB - IEEE CY - Piscataway, NJ ER - TY - PAT A1 - Nötzold, K. A1 - Bragard, Michael A1 - Fink, K. A1 - Griessel, R. A1 - Wegener, R. T1 - Cascaded H-bridge converter with transformer based cell power balancing in each voltage level : [Patentschrift] Y1 - 2014 N1 - Titel des US-Patents: Bypassed cascaded cell converter : [patent of invention]. - Außerdem veröffentlicht als CN103997231 (A) PB - Europäisches Patentamt / United States Patent and Trademark Office [u.a.] CY - Den Haag / Alexandria, VA ER - TY - JOUR A1 - Lambers, Andreas A1 - Bragard, Michael T1 - Kinetische Skulptur - Treffen sich ein E-Techniker und ein Künstler ... JF - Elektor : learn, design, share N2 - Die Verbindung der Welten dressierter Elektronen und grenzenloser Kreativität bietet ein großes Potential; zum Beispiel bei modernen Skulpturen, deren Form sich durch Motoren verändern kann. An der FH Aachen wurde ein solches Projekt verwirklicht: Eine Matrix aus Holzkugeln kann Piktogramme anzeigen, aber auch mathematische Funktionen visualisieren. In diesem Artikel beschreiben wir die clevere Ansteuerung der Motoren. Y1 - 2017 SN - 0932-5468 VL - 48 IS - 9 SP - 78 EP - 83 PB - Elektor-Verlag CY - Aachen ER - TY - CHAP A1 - Köllensperger, P. A1 - Bragard, Michael A1 - Plum, T. A1 - De Doncker, R. W. T1 - The dual GCT : a new high-power device using optimized GCT technology T2 - Conference record of the 2007 IEEE Industry Applications Conference : 42. IAS annual meeting ; September 23 - 27, 2007, New Orleans, Louisiana, USA Y1 - 2007 SN - 978-1-4244-1260-0 (Online) SN - 978-1-4244-1259-4 (Print) U6 - http://dx.doi.org/10.1109/07IAS.2007.76 SP - 358 EP - 365 PB - IEEE Operations Center CY - Piscataway, NJ ER -