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simulation model of a gear synchronisation unit for application in a real-time HiL environment

VEHICLE SYSTEM DYNAMICS 2017年第5期55卷 668-680页

作者： Kirchner, Markus Eberhard, Peter Univ Appl Sci Esslingen Inst Engn & Design Goppingen Germany Univ Stuttgart Inst Engn & Computat Mech Stuttgart Germany

Gear shifting simulations using the multibody system approach and the finite-element method are standard in the development of transmissions. However, the corresponding models are typically large due to the complex geometries and numerous contacts, which causes long calculation times. The present work sets itself apart from these detailed shifting simulations by proposing a much simpler but powerful synchronisation model which can be computed in real-time while it is still more realistic than a pure rigid multibody model. Therefore, the model is even used as part of a hardware-in-the-loop (HiL) test rig. The proposed real-time capable synchronization model combines the rigid multibody system approach with a multiscale simulation approach. The multibody system approach is suitable for the description of the large motions. The multiscale simulation approach is using also the finite-element method suitable for the analysis of the contact processes. An efficient contact search for the claws of a car transmission synchronisation unit is described in detail which shortens the required calculation time of the model considerably. To further shorten the calculation time, the use of a complex pre-synchronisation model with a nonlinear contour is presented. The model has to provide realistic results with the time-step size of the HiL test rig. To reach this specification, a particularly adapted multirate method for the synchronisation model is shown. Measured results of test rigs of the real-time capable synchronisation model are verified on plausibility. The simulation model is then also used in the HiL test rig for a transmission control unit.

关键词： hardware in the loop simulation multibody system gear shifting powertrain

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HILS-Based Development of a Relative Position and Orientation Measurement System for Platooning Vehicles with Coupling Devices

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SICE Journal of Control, Measurement, and System Integration 2018年第4期11卷 274-283页

作者： Rui Fukui Yuki Okamoto Department of Human and Engineered Environmental Studies The University of Tokyo Department of Mechanical Engineering The University of Tokyo

We propose a new platooning vehicle that uses a coupling device not for the traction of following vehicles but for the measurement of relative position and orientation between leading and following vehicles. The following vehicles are driven by their own motors. This paper reports development of the relative position and orientation measurement system. In the coupling device, multiple distance sensors are equipped around the pin. These sensors acquire the distance between the pin and a hexagonal ring. The array of distance values is converted to the relative position and orientation of vehicles using two methods: (1) Geometric method and (2) Data look-up method. After a prototype of the proposed measurement system is implemented, it is evaluated using hardware in the loop simulation (HILS) that simulates multiple vehicles' platooning drive. Therefore, the system capabilities have been evaluated not only by the measurement precision but also by the platooning performance. The experimentally obtained results demonstrate that the proposed measurement system is sufficiently valid and feasible. The data look-up method exhibits especially superior performance because it uses no geometric conditions explicitly.

关键词： automobile self-driving car hardware in the loop simulation data-driven approach

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Model reference adaptive autopilot with anti-windup compensator for an autonomous underwater vehicle: Design and hardware in the loop implementation results

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APPLIED OCEAN RESEARCH 2017年 62卷 27-36页

作者： Sarhadi, Pouria Noei, Abolfazl Ranjbar Khosravi, Alireza Babol Noshirvani Univ Technol Fac Elect & Comp Engn Babol Sar Iran

In this paper, a novel model reference adaptive controller with anti-windup compensator (MRAC_AW) is proposed for an autonomous underwater vehicle (AUV). Input saturations and parametric uncertainties are among the practical problems in the control of autonomous vehicles. Hence, utilizing a proper adaptive controller with the ability to handle actuator saturations is of a particular value. The proposed technique of this paper incorporates the well-posed model reference adaptive control with integral state feedback and a modern anti-windup scheme to present an appropriate performance in practical conditions of an AUV. Stability of the proposed method is analyzed by Lyapunov theory. Then, the proposed controller is implemented in the hardware in the loop simulation of AUV. For this purpose, the introduced method is implemented in an onboard computer to be checked in a real-time dynamic simulation environment. Obtained results in the presence of real hardware of system, actuators, computational delays and real-time execution verify the effectiveness of proposed scheme. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Model reference adaptive control Six degrees of freedom simulation Input saturation Anti-windup compensator hardware in the loop simulation AUV

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KASSANDRA: A framework for distributed simulation of heterogeneous cooperating objects

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JOURNAL OF SYSTEMS ARCHITECTURE 2017年 73卷 28-41页

作者： Figura, Richard Shih, Chia-Yen Ceriotti, Matteo Fu, Songwei Brockmann, Falk Nebot, Hector Alarcon, Francisco Kropp, Andrea Kondak, Konstantin Schwarzbach, Marc Jimenez, Antidio Mulero-Pazmany, Margarita Dini, Gianluca Capitan, Jesus Marron, Pedro Jose Univ Duisburg Essen Fac Business Adm & Econ Dept Comp Sci & Business Informat Syst ICB Networked Embedded Syst Grp Schutzenbahn 70 D-45117 Essen Germany ETRA Res & Dev Tres Forques 147 Valencia 46014 Spain Ctr Adv Aerosp Technol CATEC C Wilbur & Orville Wright 17-19-21 Seville 41309 Spain Leonardo Finmeccan Spa Piazza Monte Grappa 4 I-00195 Rome Italy German Aerosp Ctr DLR Inst Robot & Mechatron RMC D-82234 Oberpfaffenhofen Wessling Germany CSIC Estn Biol Donana C Amer Vespucio S-N Seville 41092 Spain Univ Tcn Particular Loja Dept Nat Sci San Cayetano Alto Loja Ecuador Univ Pisa Dept Ingn Informaz Via Girolamo Caruso 16 I-56122 Pisa Italy Univ Seville Dept Ingn Sistemas & Automat Escuela Super Ingn Camino Descubrimientos S-N Seville 41092 Spain

To address the heterogeneity and scalability issues of simulating Cooperating Objects (COs) systems, we propose KASSANDRA, a conceptual framework for enabling distributed COs simulation by integrating existing simulation tools. Moreover, KASSANDRA exploits the communication middleware used by real-world COs as underlying communication mechanism for integrating KASSANDRA-enabled simulation tools. In this way, real-world COs can be included with simulated objects in a seamless way to perform more accurate system performance evaluation. Moreover, such a hardware-in-the-loop approach is not limited to pre deployment performance analysis, and can offer possibilities to analyse performance at different phases of CO applications. The concept of KASSANDRA has been carried out in the EU PLANET project. In this paper, we introduce the KASSANDRA framework components and show their interactions at different phases for node deployments in PLANET use cases. The result demonstrates the applicability of KASSANDRA to facilitate the development of CO applications. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Heterogeneous simulation Distributed simulation hardware in the loop simulation Live debugging of distributed systems Cooperating objects

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A hardware-in-the-loop simulation program for ground-based radar

A hardware-in-the-loop simulation program for ground-based r...

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Conference on Modeling and simulation for Defense Systems and Applications VI

作者： Lam, Eric P. Black, Dennis W. Ebisu, Jason S. Magallon, Julianna Thales Raytheon Syst TRS Battlefield Radar Dept Fullerton CA 92834 USA

ISBN: (纸本)9780819486349

A radar system created using an embedded computer system needs testing. The way to test an embedded computer system is different from the debugging approaches used on desktop computers. One way to test a radar system is to feed it artificial inputs and analyze the outputs of the radar. More often, not all of the building blocks of the radar system are available to test. This will require the engineer to test parts of the radar system using a "black box" approach. A common way to test software code on a desktop simulation is to use breakpoints so that is pauses after each cycle through its calculations. The outputs are compared against the values that are expected. This requires the engineer to use valid test scenarios. We will present a hardware-in-the-loop simulator that allows the embedded system to think it is operating with real-world inputs and outputs. From the embedded system's point of view, it is operating in real-time. The hardware in the loop simulation is based on our Desktop PC simulation (PCS) testbed. In the past, PCS was used for ground-based radars. This embedded simulation, called Embedded PCS, allows a rapid simulated evaluation of ground-based radar performance in a laboratory environment.

关键词： simulation hardware in the loop simulation radar radar testbed

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Flexible FPGA based hardware in the loop simulator for control, fault-tolerant and cyber-physical systems 55

Flexible FPGA based hardware in the loop simulator for contr...

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55th AIAA Aerospace Sciences Meeting

作者： Bakker, Tim Leccadito, Matthew T. Klenke, Robert H. Virginia Commonwealth University Electrical and Computer Engineering RichmondVA23220 United States

ISBN: (数字)9781624104473

ISBN: (纸本)9781624104473

hardware in the loop simulation (HILS) is a development platform wherein the real hardware/software system is thoroughly tested and verified for proper working within a simulation environment. The use of HILS can significantly reduce the cost of developing and testing a complex control system where the physical environment cannot be easily reproduced or where a failure could have a costly or even catastrophic effect (ie. aerospace or automotive industries). This paper describes a Field Programmable Gate Array (FPGA) based modular HILS platform for unmanned systems with the ability to inject sensor failures and deploy Cyber-Physical System (CPS) attacks. The proposed platform is ideally suited for the development and testing of fault-tolerant cyber-secure control systems. The implemented HILS platform is demonstrated using an existing Flight Control System (FCS) for small Unmanned Aerial Systems (sUAS). © 2017 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Field Programmable Gate Array Cyber Physical System Barometric Pressure Sensor Flight Control System Control Systems hardware in the loop simulation Unmanned System Unmanned Aerial Systems Ground Control Station Ground Communication System

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Target Capturability Using Agents in Cyclic Pursuit

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2016年第5期39卷 1034-1045页

作者： Mukherjee, Dwaipayan Ghose, Debasish Indian Inst Sci Dept Aerosp Engn Control & Decis Syst Lab Bangalore 560012 Karnataka India

In the literature, several variants of the conventional cyclic pursuit law have been discussed. In this paper, one such variant, a modified heterogeneous cyclic pursuit scheme, has been proposed to capture a moving target. As a special case, when the target is stationary, the problem of capturing the target becomes the same as the rendezvous problem. The control laws proposed here ensure that such fixed targets (points) can always be collectively captured ( reached) and a maneuvering target can be captured, provided that the agents can rendezvous at its initial position. Agents with double-integrator dynamics have also been considered, and a suitable cyclic pursuit law has been proposed to ensure global reachability and target capturability for bounded target maneuver. The theoretical findings are backed by simulation results.

关键词： Multi Agent System Micro Air Vehicle Unmanned Ground Vehicle hardware in the loop simulation Simple Harmonic Motion Information Processing Wheeled Robot Doppler Radar Mobile Robots Air Vehicle

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Research on suspension system with embedded-permanent-magnet magnetorheological damper based on V-model

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2016年第10期230卷 1602-1614页

作者： Xiao, Ping Wang, Qidong Niu, Limin Gao, Hong Hefei Univ Technol Sch Mech & Automot Engn 193 Tunxi Rd Hefei Peoples R China Anhui Polytech Univ Sch Mech & Automot Engn Wuhu Peoples R China Anhui Univ Sci & Technol Sch Mech Engn Huainan Peoples R China Anhui Univ Technol Sch Mech Engn Maanshan Peoples R China

In order to enhance performance of automotive suspension with embedded-permanent-magnet magnetorheological (MR) damper, V-model developing flow of electronic control unit was adopted to study control system of the suspension. First of all, rapid control prototyping (RCP) system of suspension with embedded-permanent-magnet MR damper was built up based on real-time simulation platform D2P;control algorithm of fruit fly optimization algorithm- proportional-integral-derivative was designed and experiments of RCP simulation were carried out. Moreover, model of suspension with embedded-permanent-magnet MR damper was built with the instruction of magnetic field composition theory. On these bases, hardware in the loop simulation (HILS) platform was built up and HILS experiments were carried out as well. Finally, bench tests were carried out, whose results, together with simulation results, indicated that the controlling system of suspension with embedded-permanent-magnets MR damper in the given research could enhance automobiles' ride performance and the designed control strategy and algorithm were good.

关键词： Automobile suspension magnetorheological damper with embedded permanent magnet rapid control prototyping hardware in the loop simulation

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A Low-Cost Matlab-Based Educational Platform for Teaching Robotics 1

A Low-Cost Matlab-Based Educational Platform for Teaching Ro...

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1st IEEE Colombian Conference on Robotics and Automation (CCRA)

作者： Castaneda, J. J. Ruiz-Olaya, A. F. Acuna, W. Molano, A. Univ Antonio Narino Bioengn Res Grp Bogota Colombia Univ Antonio Narino Bioinstrumentat & Control Res Grp Bogota Colombia

ISBN: (纸本)9781509037872

Robotics courses play a central role in the electronic engineering curriculum. Those courses provide students with knowledge and skill in multiple aspects of the design, simulation, implementation and operation of systems using robotics technologies for applications in areas such as the industrial, medical, services, among others. This work describes the implementation and application of a Matlab-based platform using low-cost technologies as an educational tool to be included in robotics courses. The platform comprises an Arduino as a target for hardware in the loop (HIL) simulation using Matlab and a 6 Degree of Freedom (DoF) articulated robotic arm. The HIL simulation system differs from computer simulation in such a way that it involves actual hardware and permits controlling the real world actuators and sensors. It was carried out set of experiments aimed to evaluate the platform in the field of human-robot interaction;specifically, through an application to control the robotic arm to follow movements of a human upper limb. Root Mean Square Error (RMSE) was used to correlate movement provided by user and the actual movement executed by the robotic arm. Obtained mean measurement errors were RMSE of 4.7 degrees for static validation and 5.3 degrees for dynamic tests.

关键词： Educational Robotics hardware in the loop simulation Arduino Inertial sensors Joint angle amplitude

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Design of hardware-in-the-loop simulation platform for ship electric propulsion system

Design of Hardware-in-the-loop simulation platform for ship ...

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2011 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS 2011)

作者： Luo chenghan 12 1 School of Power and Energy Engineering Wuhan University of Technology Wuhan ,China 2 Marine Engineering Institute Jimei University Xiamen,China Hui 1 1 School of Power and Energy Engineering Wuhan University of Technology Wuhan,China

This paper introduces hardware in the loop (HIL) simulation platform based on dSPACE and its software environment which includes RTI and *** expatiates on the developing steps of hardware in the *** order to evaluate performance and feasibility of ship electric propulsion system, emulation system of the propeller dynamic loads is designed , The hardware in the loop simulation platform for ship electric propulsion system is developed, whole architectures of its hardware and Simulink models are *** in the loop simulation is valuable for the practical applications in the marine engineering.

关键词： hardware in the loop simulation dSPACE electric propulsion propeller dynamic loads

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