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Asia-Pacific International Symposium on Aerospace Technology (APISAT)

作者： Qiu, Xiao-Jie Zheng, Wen-Hua Tang, Yu-Ting Lu, Feng AVIC Aviat Motor Control Syst Inst Wuxi 210043 Peoples R China Nanjing Univ Aeronaut & Astronaut Nanjing 210016 Jiangsu Peoples R China

For the rapid test verification of aero-engine control and gas path fault diagnosis algorithm, the rapid prototyping hardware in the loop test verification method of the aircraft engine function algorithm module was designed, which based on the virtual instrument language and rapid prototyping technology. CompactRIO and its extension boards were utilized to build the rapid prototyping test verification platform for aircraft engine function algorithm, the control algorithm and the gas path fault diagnosis algorithm was deployed to the hardware in the loop which based on rapid prototyping, for the simulation of the algorithm on the platform. Finally, as an example of a turbofan engine PID control algorithm and gas path fault diagnosis algorithm, hardware in loop simulation test verification was carried through the rapid prototyping of platform. The results show that the rapid prototyping platform and its design method can realize the algorithm verification fast and flexible. (C) 2015 The Authors. Published by Elsevier Ltd.

关键词： aero-engine gas path fault diagnosis algorithm PID control algorithm hardware in the loop simulation rapid prototyping

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Testing-Oriented Simulator for Autonomous Underwater Vehicles

Testing-Oriented Simulator for Autonomous Underwater Vehicle...

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Chinese Intelligent Automation Conference (CIAC)

作者： Wang, Jinhua Ma, Yongzhong Chinese Peoples Armed Police Force Engn Univ Xian Shaanxi Peoples R China

ISBN: (纸本)9783642384608;9783642384592

Over the past decade, there has been a growing interest in utilizing formation control and path planning in autonomous underwater vehicles (AUVs) designs. In this paper we present a novel method to create an AUV simulator using the hardware in the loop simulation (HILS) and Virtual Reality (VR). The developed setup offers an alternative to difficult, costly, and possibly hazardous real-time testing and validation of formation control or path planning algorithms for autonomous underwater vehicles. The hardware of the platform is provided with data flow, followed by detailed descriptions of the AUV sensor models that are employed. An example of fuzzy algorithm development obstacle avoidance system is also described. Experimental results are presented showing the feasibility of methods. Finally, the suggestion of the hardware-in-loop simulator is given.

关键词： AUVs Virtual reality hardware in the loop simulation Fuzzy algorithm testing

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Comprehensive Underwater Vehicle-Manipulator System Teleoperation

Comprehensive Underwater Vehicle-Manipulator System Teleoper...

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Washington State Conference and Trade Center (WSCTC)

作者： Soylu, Serdar Firmani, Flavio Buckham, Bradley J. Podhorodeski, Ron P. Univ Victoria IEEE Conf Publishing Victoria BC V8W 3P6 Canada

ISBN: (纸本)9781424443338

In this work, a novel comprehensive scheme for the coordinated control of remotely operated vehicle-manipulator systems (ROVMs) is proposed. In the proposed scheme, instead of commanding the motion of the vehicle and the manipulator separately, a human pilot commands only the manipulator's end-effector motion using a parallel- architectured six-degree-of-freedom (6-DOF) joystick. The generated reference motion is then converted into a set of desired ROV and manipulator joint motion by means of using a redundancy resolution scheme that provides the means to utilize redundant degrees of freedom to accomplish secondary objectives. The redundancy resolver uses the Gradient Projection Method combined with a Mamdani-based fuzzy determination of the hierarchy of the secondary objectives. The controller relies on a unified dynamic model of the system. The quasi-Lagrange method is used to derive the equations of motion in terms of the ROV body-fixed frame. For the control problem, a sliding-mode based controller is used that contains an adaptive term for the estimation of the upper bound on the lumped uncertainty vector. The hardware-in-the-loop simulation studies illustrate that detailed subsea tasks can be completed with a small, low-cost ROVM system using the proposed ROVM operation scheme.

关键词： Lagrange method Mamdani based fuzzy determination ROV end effectors fuzzy set theory gradient methods gradient projection method hardware in the loop simulation human pilot manipulator end effector motion mobile robots motion control parallel architectured six degree of freedom joystick remotely operated vehicle manipulator system remotely operated vehicles teleoperation telerobotics underwater vehicle manipulator underwater vehicles variable structure systems

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Practical Implementation of Autonomous Soaring Algorithm into Open-Source Autopilot for Unmanned Aerial Vehicle

Practical Implementation of Autonomous Soaring Algorithm int...

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AIAA Aviation Forum

作者： Langenscheidt, Roman Rosales, Jesus Gross, Andreas New Mexico State Univ Mech & Aerosp Engn Dept Las Cruces NM 88003 USA

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

Autonomous soaring flight offers to extend the loiter time and range of unmanned aerial vehicles. As an important step towards flights tests, an autonomous soaring algorithm was embedded into the PX4 Autopilot software which runs on Pixhawk flight controllers. The implementation was done in Matlab/Simulink with the UAV Toolbox Support Package for PX4 Autopilots. A flag was added to the PX4 Autopilot software to switch between a powered cruise flight mode and a thermaling/gliding flight mode. When the autopilot is in powered cruise flight mode, the autonomous soaring algorithm is inactive and the PX4 position controller takes full control. When the autopilot is in thermaling/gliding flight mode, the autonomous soaring algorithm replaces the PX4 position controller. A simulation environment was built in Simulink for validating the implementation. Extensive tests indicate that the autonomous soaring algorithm performs satisfactorily. First steps were also taken towards hardware-in-the-loop simulations.

关键词： Autonomous Soaring Unmanned Aerial Vehicle Electronic Speed Control Simulink Flight Testing Gliding Flight Cruise Flight hardware in the loop simulation Drag Coefficient Three Degrees of Freedom

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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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THE IEC61850 STANDARD-BASED PROTECTION SCHEME FOR POWER TRANSFORMERS

THE IEC61850 STANDARD-BASED PROTECTION SCHEME FOR POWER TRAN...

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作者： BWANDAKASSY ELENGA BANINGOBERA Cape Peninsula University of Technology

学位级别：硕士

Transformer Differential and overcurrent schemes are traditionally used as main and backup protection respectively. The differential protection relay (SEL487E) has dedicated harmonic restraint function which blocks the relay during the transformer magnetizing inrush conditions. However, the backup overcurrent relay (SEL751A) applied to the transformer protection does not have a harmonic restraint element and trips the overcurrent relay during the inrush conditions. Therefore, to prevent the malfunction caused by the transformer magnetizing inrush current, a novel harmonic blocking method is developed, implemented and tested in the RSCAD simulation environment. The IEEE 14 bus transmission system is considered as a case study. The IEEE 14 bus system is modelled and simulated in the DIgSILENT and RSCAD simulation environments respectively. The developed harmonic blocking scheme is implemented in the hardware-In-the-loop (HIL) simulation environment using Real-Time Digital Simulator and numerical protection IEDs. The developed scheme uses the Harmonic Blocking element (87HB) of the transformer differential relay (SEL487E) to send an IEC61850 GOOSE-based harmonic blocking signal to the backup overcurrent relay (SEL751A) to inhibit it from tripping during the transformer magnetizing inrush current conditions. The hardwired and GOOSE simulation results are analysed for the transformer differential protection and the backup overcurrent protection schemes for internal, external events and transformer magnetizing inrush current conditions. The simulation results proved that the IEC61850 standard-based protection scheme is faster than the hardwired. Therefore, the speed and reliability are improved using the IEC61850 standard-based GOOSE applications to the transformer digital protective relaying system.

关键词： Transformer protection Overcurrent protection Current differential protection scheme Transformer magnetizing inrush current Harmonic blocking IEC 61850 standard Substation communication GOOSE hardware in the loop simulation

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hardware in the loop implementation of adaptive vision based guidance law for ground target tracking

Hardware in the loop implementation of adaptive vision based...

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作者： Soh Mun Lok Bernard U. S. Naval Postgraduate School

学位级别：硕士

An adaptive guidance law of a Vision Based Target Tracking (VBTT) system was previously developed and implemented onboard a Small Unmanned Aerial Vehicle (SUAV) in order to track a ground target moving with a constant velocity. This work extends previous results by considering scenarios where the variation of target velocity, in both magnitude and direction, is used to excite the feedback control law for further robustness analysis. This provides essential insight on the sensitivity of the performance criteria indicated by the range holding capability, navigation error and the convergence speed of the guidance law. In addition, this thesis addresses the robustness of the SUAV guidance law to the generalized time delay in feedback due to, for example, data processing or communications lag. This thesis also extends the previously obtained results by introducing a multi-criteria optimization technique. The results obtained are first based on the numerical simulations implemented in SIMULINK and then in high fidelity HIL simulation environment with Piccolo Plus AP in the control loop. Initial steps in developing Vision Based HIL environment incorporating TASE gimbal, Piccolo Plus AP, Pan-Tilt unit and image processing software are presented. The work also includes motivation for the development, an overview of the existing technologies, and initial implementation of low-level driving mechanism (drivers) for the realistic representation of the real-world environment.

关键词： Unmanned Aerial Vehicle UAV Vision Based Target Tracking Autonomous Guidance xPC Target PC-104 hardware in the loop simulation

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Stable Model Predictive Strategy for Rendezvous Hovering Phases Allowing for Control Saturation

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2019年第8期42卷 1658-1675页

作者： Gilz, Paulo R. Arantes Joldes, Mioara Louembet, Christophe Camps, Frederic Univ Toulouse LAAS CNRS Lab Anal & Architecture Syst Methods & Algorithms Control 7 Ave Colonel Roche F-31031 Toulouse France Univ Toulouse III Paul Sabatier Univ Toulouse France

This paper presents a model predictive control strategy for the spacecraft rendezvous hovering phases. Using a sequence of impulsive velocity changes, the spacecraft is controlled to reach and remain on a periodic trajectory inside a given box-type hover zone, while minimizing the fuel consumption. The path constraints (box type and periodicity) are satisfied continuously in time based on a particular parameterization of the linearized relative spacecraft trajectories. The control saturation constraint is enforced by replanning. First, a sequence of saturated impulsive controls is selected, such that the spacecraft gets on a periodic trajectory. Second, a fixed-length sequence of saturated impulses brings the spacecraft closer to the hover zone. The convergence of this approach is proved. Numerical methods are proposed to solve the required constrained optimization problems. Finally, hardware-in-the-loop simulations, using a synthesized LEON3 microprocessor, are performed to assess the efficiency and robustness of the proposed approach.

关键词： Model Predictive Control Fuel Consumption Spacecraft Rendezvous hardware in the loop simulation Microprocessors Spacecraft Trajectories Broyden Fletcher Goldfarb Shanno Optimal Control Orbital Period Control Algorithm

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Variable-Magnification Optical Stimulator for Training and Validation of Spaceborne Vision-Based Navigation

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JOURNAL OF SPACECRAFT AND ROCKETS 2019年第4期56卷 1060-1072页

作者： Beierle, Connor D'Amico, Simone Stanford Univ Dept Aeronaut & Astronaut Space Rendezvous Lab Durand Bldg496 Lomita Mall Stanford CA 94305 USA

This paper addresses the design, calibration, and utilization of a hardware-in-the loop optical stimulator for the training and validation of vision-based sensors and algorithms used for spaceborne navigation. This testbed overcomes deficiencies of existing approaches in literature, which mainly focus on emulating single operational zones such as inertial, far-range, or close-range relative navigation. Consequently, the behavior of vision-based sensors and algorithms operating in mixed or transitioning navigation regimes have remained poorly assessed before launch. To address these issues, this novel optical stimulator reproduces the large geometric and radiometric dynamic range of the space environment with a pair of lenses to achieve variable magnification of an organic light emitting diode monitor. This approach is shown to support vision-based sensors of both narrow and wide field of view, increase the radiometric dynamic range of the testbed, and emulate close-range scenarios when light from an object is not collimated. A calibration procedure is presented that places sources of light at the intended angular location over the magnification range in the presence of varying distortions. The calibrated testbed is then used to simulate dynamic inertial and relative navigation scenarios of operational relevance. These hardware-in-the-loop simulations allow for the training and validation of optical hardware, software, and algorithms for future distributed space systems.

关键词： Vision Based Navigation Horizon Sensors Space Environment hardware in the loop simulation Distributed Space Systems Satellites Attitude Dynamics Earth Cathode Ray Tubes Application Programming Interface

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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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