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hardware in the loop simulation for product driven control of a cyber-physical manufacturing system

PRODUCTION ENGINEERING-RESEARCH AND DEVELOPMENT 2020年第3期14卷 329-343页

作者： Mihoubi, B. Bouzouia, B. Tebani, K. Gaham, M. Univ Badji Mokhtar Lab LERICA BP 12 Annaba Algeria CDTA Div Prod & Robot BP 17 Baba Hassen Algeria

Cyber-physical system (CPS) is considered as a building block of industry 4.0. They are formulated as a network of interacting cyberspace and physical elements. Dealing with this new industrial context, distributed control systems (DCS) are increasingly involved because they permit meeting flexibility and adaptability requirements, which can give scope to CPS. The product driven control system (PDS) is considered as DCS in which the product plays a major role in decision-making. However, the PDS paradigm has not yet received sufficient attention within the CPS. Relying on multi-agents system as implementation framework, radio frequency identity as auto-identity technologies, and hardware in the loop simulation as a practical methodology, the paper proposes a validation and practical framework of PDS applied to the highly automated flexible robotized assembly system. An efficient CPS is developed for a discrete flexible manufacturing system.

关键词： Cyber-physical systems Distributed control system Product driven system RFID technologies hardware in the loop simulation Multi-agents system

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hardware in the loop simulation Development of Guidance System for Autonomous Underwater Glider 6

Hardware In the Loop Simulation Development of Guidance Syst...

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6th International Conference on Electrical Engineering and Informatics (ICEEI) - Sustainable Society Through Digital Innovation

作者： Putri, Tri Wahyu Oktaviana Ginting, Muhammad Fadhil Trilaksono, Bambang Riyanto Hidayat, Egi Muhammad Idris Sagala, Muhammad Faisal Inst Teknol Bandung Sch Elect Engn & Informat Bandung Indonesia

ISBN: (纸本)9781538604755

Autonomous Underwater Glider (AUG) as a high durability underwater vehicle is typically capable of extremely long missions in the ocean by tracking the desired waypoints using guidance system. Typical AUG's guidance system development requires many costly at-sea trials to evaluate the guidance ability. simulation provides a cost-effective measure to carry out preliminary component and system testing, thereby reducing the number of potential failures in at-sea trials. This paper presents the hardware in the loop (HIL) simulation development of the guidance system for a class of AUG. Guidance through waypoints using Line of Sight (LOS) method guides the AUG to desired waypoints by adjusting the yaw angle. The LOS algorithm was implemented as executable code in BeagleBone Black board. HIL simulation can be simulated using the hardware component (BeagleBone Black) along with AUG's models which were built in MATLAB/SIMULINK. It provides the verification step of the AUG's guidance system before the real deployment in the ocean. The HIL simulation showed that LOS method was able to guide the AUG to desired waypoints despite simulated using some different waypoint schemes and under the effect of ocean currents as a disturbance.

关键词： Autonomous Underwater Glider hardware in the loop simulation guidance Line of Sight

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hardware in the loop simulation of Solid State Trasformer for Smart Grid applications

Hardware In the Loop simulation of Solid State Trasformer fo...

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27th International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)

作者： Frivaldsky, Michal Takacs, Kristian Spanik, Pavol Univ Zilina Fac Elect Engn & Informat Technol Dept Mechatron & Elect Zilina Slovakia

ISBN: (纸本)9798350387605;9798350387599

In this paper, the solid-state transformer (SST) concept for the residential application use is being presented. Regarding various arrangement of the power semiconductor converters within SST the proposal for 3-level configuration was initially given. Individual power circuit topologies have been designed reflecting the requirements on the operational conditions. In order to verify the SST functionality, the hardware in the loop (HIL) simulation model is later presented. For the HIL simulation purposes, PLECS environment and RT BOX 1 was used. Each of the power converter of SST concept was verified, while the control algorithms and control systems for individual power circuit have been modeled as well. As a result of HR. simulations, the evaluation of the performance operation are summarized individually for investigated power semiconductor converters of the proposed SST concept.

关键词： solid state transformer power semiconductor converter hardware in the loop simulation

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hardware in the loop simulation for Low-altitude UAV Link in the Complex Terrain

Hardware in the Loop Simulation for Low-altitude UAV Link in...

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2nd International Conference on Measurement, Instrumentation and Automation (ICMIA 2013)

作者： Zheng, Yi Wang, Yuwen Univ Elect Sci & Technol China Sch Aeronaut & Astronaut Chengdu 610054 Peoples R China

ISBN: (纸本)9783037857519

In order to investigate the influence of complex terrain on the quality of the unmanned aerial vehicle (UAV) communication link and simulate it accurately, the HITL simulation platform of the UAV-ground link, which was based on EXata software and IP Network Emulation (IPNE) module, was built. In the virtual terrain scenarios, the Free-space loss model and the Irregular Terrain Model (ITM) were used to modeling and conduct the semi-physical simulation experiments, respectively. Then, a method of the HITL simulation for the wireless communication link was implemented, which achieved the real-time video stream interaction with the virtual networks. The simulation results showed the real-time changes of path loss in the complex terrain and the specific affection on the UAV-ground link communication quality from numerical and video transmission effect. The method enhanced the accuracy and rationality of the UAV-ground link simulation.

关键词： UAV hardware in the loop simulation path loss communication link EXata

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Anytime system level verification via parallel random exhaustive hardware in the loop simulation

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MICROPROCESSORS AND MICROSYSTEMS 2016年第Mar.期41卷 12-28页

作者： Mancini, Toni Mari, Federico Massini, Annalisa Melatti, Igor Tronci, Enrico Univ Roma La Sapienza Dept Comp Sci Rome Italy

System level verification of cyber-physical systems has the goal of verifying that the whole (i.e., software + hardware) system meets the given specifications. Model checkers for hybrid systems cannot handle system level verification of actual systems. Thus, hardware in the loop simulation (HILS) is currently the main workhorse for system level verification. By using model checking driven exhaustive HILS, System Level Formal Verification (SLFV) can be effectively carried out for actual systems. We present a parallel random exhaustive HILS based model checker for hybrid systems that, by simulating all operational scenarios exactly once in a uniform random order, is able to provide, at any time during the verification process, an upper bound to the probability that the System Under Verification exhibits an error in a yet-to-be-simulated scenario (Omission Probability). We show effectiveness of the proposed approach by presenting experimental results on SLFV of the Inverted Pendulum on a Cart and the Fuel Control System examples in the Simulink distribution. To the best of our knowledge, no previously published model checker can exhaustively verify hybrid systems of such a size and provide at any time an upper bound to the Omission Probability. (C) 2015 Elsevier B.V. All rights reserved.

关键词： Model Checking of Hybrid Systems Model checking driven simulation hardware in the loop simulation

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A hardware in the loop simulation platform for vision-based control of unmanned air vehicles

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MECHATRONICS 2009年第7期19卷 1043-1056页

作者： Gans, N. R. Dixon, W. E. Lind, R. Kurdila, A. Univ Texas Dallas Richardson TX 75083 USA Univ Florida Gainesville FL USA Virginia Polytech Inst & State Univ Blacksburg VA 24061 USA

Design and testing of control algorithms for unmanned air vehicles (UAV's) is difficult due to the delicate and expensive nature of UAV systems, the risk of damage to property during testing, and government regulations. This necessitates extensive simulation of controllers to ensure stability and performance. However, simulations cannot capture all aspects of a flight control, such as sensor noise and actuator lag. For these reasons. hardware in the loop simulation (HILS) platforms are used. In this paper, a novel HILS platform is presented for vision-based control of UAV's. This HILS platform consists of virtual reality software to produce realistic scenes projected onto a screen and viewed by a camera. Flight hardware includes an UAV with onboard autopilot interfaced to the virtual reality software. This UAV can be mounted in a wind tunnel, allowing attitude regulation through servoing the airfoils. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： hardware in the loop simulation Vision-based control Unmanned air vehicles

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Nonlinear adaptive semiactive control of a half-vehicle model via hardware in the loop simulation

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TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES 2020年第3期28卷 1612-1630页

作者： Paksoy, Mahmut Metin, Muzaffer Yildiz Tech Univ Dept Mech Engn Istanbul Turkey

In this study, vehicle body vibrations are semiactively controlled using a nonlinear adaptive controller designed to improve passenger comfort by guaranteeing closed loop system stability under variable road disturbances with parametric uncertainty. Semiactive vibration control is implemented to the system through the magnetorheological damper. The MR damper test system is established in laboratory conditions, and the required values that are measured from the test system are used in computer simulations via the hardware in the loop simulation (HILS) method. By this way, it is possible to avoid the financial and other difficulties of the experimental study by establishing the test system completely, and also the hesitations that may arise in terms of producing realistic results of pure simulation studies of nonlinear dynamics. A 4-degree-of-freedom half-vehicle model is developed to examine the vehicle body bounce and pitch movements, and simulations are carried out under bump and random road irregularities, and the results are presented in comparison with the performance of the conventional skyhook controller. The performances of both controllers are interpreted from the aspect of acceleration and displacement responses of the vibrations and related criteria. As a result, the vibration reduction performances of both controllers are investigated experimentally using the HILS test system and the obtained results are evaluated with some comparative figures, performance criteria, and root mean square averages of vibrations.

关键词： Magnetorheological damper hardware in the loop simulation semiactive control adaptive control skyhook control

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Testing Platform for Real-Time Controllers Based on hardware in the loop simulation 26

Testing Platform for Real-Time Controllers Based on Hardware...

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26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Luca, Irina Condrachi, Larisa Luca, Laurentiu Vilanova, Ramon Barbu, Marian Dunarea de Jos Univ Galati Dept Automat Control & Elect Engn Galati Romania Univ Autonoma Barcelona Dept Telecommun & Syst Engn Barcelona Spain

ISBN: (纸本)9781728129891

To increase the biogas production, the anaerobic digestion process requires advanced control tools. However, in order to achieve an advanced control of the anaerobic digestion process, two constraints must be taken into account: the need for available plants for experimentation and the need to reduce costs. In this paper, it is proposed to develop a test platform for the anaerobic digestion process using the hardware in the loop simulations principle. The emulation of the anaerobic digestion process is ensured by a computer that communicates with a data acquisition board, and the process control is ensured by a Programable Logic Controller. Such a platform is effective because it allows testing in extreme situations, which in the case of environmental processes is very difficult. The platform also includes a cloud computing component for advanced data processing.

关键词： hardware in the loop simulation real-time controllers programmable logic controllers cloud computing digital twin

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Steam Turbine hardware in the loop simulation 21

Steam Turbine Hardware in the Loop Simulation

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21st International Conference on Process Control (PC)

作者： Reitinger, Jan Balda, Pavel Schlegel, Milos Univ West Bohemia Fac Appl Sci NTIS Tech 8 Plzen 30614 Czech Republic

ISBN: (纸本)9781538640111

In this paper, a new tool for teaching purposes is presented. The tool is a low-cost hardware in the loop simulation with separated process model and control algorithm on standalone hardware which runs in real-time. In this paper, the simulation is used to control the steam turbine model with shaft and generator, but it can be used on wide range of complex physical models. The used model is evaluated on ramp-up simulation in Simulink, and after that mathematical equations are implemented in Modelica language and exported into Functional Mock-up Unit (FMU). The controlled and control models are both simulated on Raspberry Pi minicomputers in real-time and one can observe the control strategy on the second Raspberry with prepared control task and Human Machine Interface (HMI). Both Raspberries are connected through the Modbus over TCP/IP protocol and one can get familiar with this wide-used communication. Furthermore, there is possibility to control the system, change regulators parameters and handle the trade-off between various performances. Regulation can be operated in so-called island or grid mode. The aim of system control is to comply shaft speed demands described in norms.

关键词： steam turbine hardware in the loop simulation modelling Functional Mock-up Interface Modelica Raspberry Pi

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Research on hardware in the loop simulation Test Technology of Electro-Optic System

Research on Hardware in the Loop Simulation Test Technology ...

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Conference on AOPC - Optical Sensing and Imaging Technology

作者： Yu, Chenfei Zhang, Hao Wang, Shaofei Sci & Technol Electroopt Control Lab Luoyang 471000 Peoples R China Luoyang Inst Electroopt Equipment Luoyang 471000 Peoples R China

ISBN: (纸本)9781510650060;9781510650053

hardware in the loop simulation test technology of electro-optic system includes video injection technology and dynamic projection technology. Firstly, the dynamic infrared scene simulation technology is used to generate missile attack and complex jamming scene images;Secondly, the digital video is injected to simulate the front-end sensor and stimulate the integrated processor to detect and track the target;Finally, the large field of view medium wave infrared dynamic target simulator is used to build the missile threat environment to carry out the functional performance test of electro-optic system under the threat of single/multi-target attack. The experimental results show that the technology can build complex scenes according to the battlefield scenario, test the processing capacity of electro-optic system under the threat of single/multi-target attack, support the verification of search, acquisition, tracking and other performance indicators of electro-optic system, and provide support conditions for the development and debugging of core algorithms of electro-optic system.

关键词： hardware in the loop simulation IR scene simulation Digital video injection Dynamic projection

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