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American Control Conference

作者： Martin Kruger Andria Remirez Jan Henning Kessler Ansgar Trachtler Heinz Nixdorf Institute Control Engineering and Mechatronics University of Paderborn 33102 Paderborn Germany Rice University Department of Mechanical Engineering and Materials Science 77005 Houston Texas USA

ISBN: (纸本)9781479901777

In this contribution we present a new, objective-based controller which works on the basis of a Pareto set, that is the solution of a multiobjective optimization problem. The controller can be used for self-optimizing systems to adapt the system behavior in terms of the desired objectives in spite of unknown disturbances over time. New system configurations are computed, that fit best to the current situation. The objective-based control is realized by means of a discrete controller which operates in a large sample time due to objective evaluation. Parametric reduced models are used to shorten the simulation time during controller design. An active suspension system of a railbound vehicle serves as an application example. The controller is tested with different linear models of the suspension system and is finally applied to a hardware-in-the-loop test rig.

关键词： system behavior Suspension System discrete controller Controllers sampling time linear models hardware-in-the-loop testing Active Suspension Systems reduced model

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Why Do Verification Approaches in Automation Rarely Use HIL-Test?

Why Do Verification Approaches in Automation Rarely Use HIL-...

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IEEE International Conference on Industrial Technology

作者： Nikolai Schetinin Natalia Moriz Barath Kumar Alexander Maier Sebastian Faltinski Oliver Niggemann Hochschule Ostwestfalen-Lippe Institute Industrial IT (inIT) 32657 Lemgo Germany Fraunhofer IOSB-INA Competence Center Industrial Automation 32657 Lemgo Germany

ISBN: (纸本)9781467345675

Nowadays, model-driven formal verification approaches are much researched for testing industrial control applications. However, these approaches can't check the system for bus errors, faulty hardware configurations and compatibility problems efficient. For sufficient testing, hardware-in-the-loop (HIL) test should be used. But the HIL-test is rarely used in the field of automation because of missing experience with it and great costs by using vendor-dependent solutions. This paper will discusses the current problems of HIL-tests for verifying the control applications and presents a promising vendor-independent approach for its implementation.

关键词： independent implementation promising Automation Verification hardware-in-the-loop testing industrial control hardware IN THE loop Formal verification Cant

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Design and implementation of a general main axis controller for the ESO telescopes

Design and implementation of a general main axis controller ...

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Conference On Software and Cyberinfrastructure for Astronomy II

作者： Sandrock, Stefan Di Lieto, Nicola Pettazzi, Lorenzo Erm, Toomas European So Observ D-85748 Garching Germany

ISBN: (纸本)9780819491527

Most of the real-time control systems at the existing ESO telescopes were developed with "traditional" methods, using general purpose VMEbus electronics, and running applications that were coded by hand, mostly using the C programming language under VxWorks. As we are moving towards more modern design methods, we have explored a model-based design approach for real-time applications in the telescope area, and used the control algorithm of a standard telescope main axis as a first example. We wanted to have a clear work-flow that follows the "correct-by-construction" paradigm, where the implementation is testable in simulation on the development host, and where the testing time spent by debugging on target is minimized. It should respect the domains of control, electronics, and software engineers in the choice of tools. It should be a target-independent approach so that the result could be deployed on various platforms. We have selected the Mathworks tools Simulink, Stateflow, and Embedded Coder for design and implementation, and LabVIEW with NI hardware for hardware-in-the-loop testing, all of which are widely used in industry. We describe how these tools have been used in order to model, simulate, and test the application. We also evaluate the benefits of this approach compared to the traditional method with respect to testing effort and maintainability. For a specific axis controller application we have successfully integrated the result into the legacy platform of the existing VLT software, as well as demonstrated how to use the same design for a new development with a completely different environment.

关键词： telescope axis control real-time systems model-based design Matlab-Simulink-Stateflow automatic code generation embedded systems hardware-in-the-loop testing correct-by-construction V-model

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Design and hardware-in-the-loop Integration of a UAV Microavionics System in a Manned-Unmanned Joint Airspace Flight Network Simulator

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2009年第1-3期54卷 359-386页

作者： Ates, Serdar Bayezit, Ismail Inalhan, Gokhan Istanbul Tech Univ Fac Aeronaut & Astronaut Controls & Avion Lab TR-80626 Istanbul Turkey

One of the challenges for manned-unmanned air vehicles flying in joint airspace is the need to develop customized but scalable algorithms and hardware that will allow safe and efficient operations. In this work, we present the design of a bus-backboned UAV microavionics system and the hardware-in-the-loop integration of this unit within a joint flight network simulator. The microavionics system is structured around the Controller Area Network and Ethernet bus data backbone. The system is designed to be cross-compatible across our experimental mini-helicopters, aircrafts and ground vehicles, and it is tailored to allow autonomous navigation and control for a variety of different research test cases. The expandable architecture allows not only scalability, but also flexibility to test manned-unmanned fleet cooperative algorithm designs at both hardware and software layer deployed on bus integrated flight management computers. The flight simulator is used for joint simulation of virtual manned and unmanned vehicles within a common airspace. This allows extensive hardware-in-the-loop testing capability of customized devices and algorithms in realistic test cases that require manned and unmanned vehicle coordinated flight trajectory planning.

关键词： Microavionics hardware-in-the-loop testing Flight network simulator

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QBOT: AN EDUCATIONAL MOBILE ROBOT CONTROLLED IN MATLAB SIMULINK ENVIRONMENT

QBOT: AN EDUCATIONAL MOBILE ROBOT CONTROLLED IN MATLAB SIMUL...

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22nd IEEE Canadian Conference on Electrical and Computer Engineering

作者： Huq, Rajibul Lacheray, Herve Fulford, Cameron Wight, Derek Apkarian, Jacob Quanser Consulting Inc Markham ON Canada

ISBN: (纸本)9781424435098

This paper describes Quanser's Mobile Robot Control Framework (QMRCF) for an educational robot called Qbot. The QMRCF accelerates the development of mobile robot control algorithms and hardware-in-the-loop (HIL) testing using model-based design techniques of MATLAB Simulink. This paper also validates the performance of QMRCF using several experiments in various research fields of mobile robotics, e.g., teleoperation, navigation, and obstacle avoidance.

关键词： Mobile robot control MATLAB Simulink hardware-in-the-loop testing

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Development and experimental validation of real-time executable models of primary fly-by-wire actuators

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2008年第I6期222卷 523-542页

作者： Di Rito, G. Denti, E. Galatolo, R. Univ Pisa Dept Aerosp Engn Pisa Italy

The availability of practical real-time models of primary flight actuators is a key aspect for performing hardware-in-the-loop simulations of fly-by-wire flight control systems. The solution could be offered by empirical models tuned on experimental data, but this approach would imply that hardware-in-the-loop simulations could be performed only after the actuators have been designed, constructed, and tested. The alternative approach, to which this work refers, is to develop high-fidelity actuator models based on the component physics and to reduce their complexity by trying to obtain a compromise between accuracy of results and real-time execution requirements. In the paper, real-time models of a servo-hydraulic actuator for primary flight controls are developed, taking into account the basic features of the fly-by-wire implementation (the non-linear direct-drive servovalve dynamics, the structural compliance, the oil compressibility, the saturation of commands, and the digital controls) as well as other physical phenomena, which are often disregarded in hydraulic actuator modelling (the hinge play, the flow forces on the servovalve spool, and the laminar servovalve flow). The simulation results of models characterized by different levels of complexity are compared with experimental data obtained by testing the aileron actuator of a modern fly-by-wire aircraft, and the relative importance of the model characteristics is highlighted and discussed, providing useful guidelines about actuator model reduction for real-time applications.

关键词： flight control systems hydraulic actuators modelling real-time simulation hardware-in-the-loop testing

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Design and hardware-in-the-loop test of the embedded control system of an indoor quadrotor helicopter

Design and hardware-in-the-loop test of the embedded control...

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6th International Workshop on Intelligent Solutions in Embedded Systems (WISES 2008)

作者： Kis, Laszlo Regula, Gergely Lantos, Bela Budapest Univ Technol & Econ Dept Control Engn & Informat Technol Budapest Hungary

ISBN: (纸本)9783000249891

The paper deals with the quick prototype design and hardware-in-the-loop real-time test of the embedded controls system of an indoor miniature quadrotor helicopter (UAV) before first flight. The control law is of backstepping type, the sensory system consists of a marker-based vision system outside the helicopter in radio connection with the embedded controller and a 3D inertial measurement unit (IMU) on the helicopter. Extended Kalman filters solve the state estimation problem. Brushless DC motors serve as actuators, For quick prototype design of the embedded controller MATLAB, Simulink Real-Time Workshop and the MPC555 Target Compiler were used. Because of the critical character of the control of flying systems the whole embedded control system was hardware-in-the-loop tested by using DS1103 of dSPACE, for real-time emulation of the indoor helicopter During test the helicopter and the sensors were mapped to DS1103 and the test was performed it? real-time using the helicopter and sensor models. Communication during the test was running using CAN bus protocol between the Freescale MPC555 processor of the embedded controller and the emulation of the helicopter and the sensors on DS1103.

关键词： indoor UAV embedded controller real-time realization quick prototype design hardware-in-the-loop testing marker-based vision and IMU sensors extended kalman filters backstepping control

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hardware in the loop (HIL) test bench for small-scale distributed generation systems

Hardware in the Loop (HIL) test bench for small-scale distri...

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IEEE International Symposium on Industrial Electronics

作者： Mauri, Marco Dezza, Francesco Castelli Marchegiani, Gabriele Politecn Milan Dept Mech Via La Masa 36 I-20133 Milan Italy MCM ENERGY LAB Milan Italy

ISBN: (纸本)9781424416653

The test procedure of electrical drives for Distributed Generation (DG) systems generally requires the installation of dedicated prototypes on site: this is an expensive, time and power consuming procedure. In recent years, the availability of high performance calculation platforms have made possible to perform these tests using hardware in the loop (HIL) test benches before the plant installation. A HIL environment allows reducing costs and saving time because an implementation error can be easily identified and it is possible to test fault conditions in a safety way. This paper presents a general HIL test bench for DG electrical drive testing. Experimental results emulating different DG sources and plant have been provided to validate the approach.

关键词： Computer hardware hardware-in-the-loop testing testing Procedures electric drives distributed power generation legal profession model cars

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Investigation of active torsion bar actuator configurations to reduce vehicle body roll

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VEHICLE SYSTEM DYNAMICS 2006年第9期44卷 719-736页

作者： Cimba, David Wagner, John Baviskar, Abhijit Ford Racing Technol Dearborn MI 48120 USA Clemson Univ Dept Mech Engn Automot Res Lab Clemson SC 29634 USA

The increasing popularity of sport utility/light-duty vehicles has prompted the investigation of active roll management systems to reduce vehicle body roll. To minimize vehicle body roll and improve passenger comfort, one emerging solution is an active torsion bar control system. The validation of automotive safety systems requires analytical evaluation and laboratory testing prior to implementation on an actual vehicle. In this article, a computer simulation tool and accompanying hardware-in-the-loop test environment are presented for active torsion bar systems to study component configurations and performance limits. The numerical simulation illustrates that the hydraulic cylinder extension limits the active torsion systems ability to provide body roll angle reduction under various driving conditions. To compare the control systems time constant and body roll minimization capabilities for different hydraulic valve assemblies and equivalent hose lengths, an experimental test stand was created. For a typical hydraulic pressure and hose diameter, the equivalent hose length was not a key design variable that impacted the system response time. However, the servo-valve offered a quicker transient response and smoother steady-state behavior than the solenoid poppet actuators that may increase occupant safety and comfort.

关键词： Chassis dynamics hydraulics hardware-in-the-loop testing design analysis

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Dynamic sprite-based real-time particle graphics

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OPTICAL ENGINEERING 2004年第5期43卷 1231-1237页

作者： Sills, TG Williams, OM Def Sci & Technol Org Weapons Syst Div Edinburgh SA 5111 Australia

A challenging aspect of real-time infrared scene generation for the hardware-in-the-loop testing of infrared-guided weapon systems is the rendering of particle systems to represent gaseous and particulate volumes. In this work, a simulation tool is described for enabling the generation of real-time particle effects with high spatial and temporal fidelity by using many less primitives than traditional means. The tool can be applied for representing plumes and countermeasures, and enables the simulation of several key capabilities, including internal flow, turbulence, persistence, and structure, all capable of being varied dynamically as a function of power setting at the source. The principles of operation, software implementation, and general performance are discussed. (C) 2004 Society of Photo-Optical Instrumentation Engineers.

关键词： hardware-in-the-loop testing real-time infrared scene generation particle graphics quadstrips sprites

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