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检索条件"主题词=Hardware-in-the-Loop simulation"

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hardware-in-the-loop simulation of an extended non-linear dynamic inversion augmented with an immunity-based adaptive control system

Hardware-in-the-Loop simulation of an extended non-linear dy...

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AIAA Modeling and simulation Technologies (MST) Conference

作者： Lyons, Brendon Moncayo, Hever Noriega, Alfonso Moguel, Israel Perhinschi, Mario G. DB-Flight Research Center Embry-Riddle Aeronautical University Daytona Beach FL 32114 United States Department of Aerospace Engineering Embry-Riddle Aeronautical University Daytona Beach FL 32114 United States Department Mechanical and Aerospace Engineering West Virginia University Morgantown WV 26506 United States

This paper presents hardware-in-the-loop (HIL) simulation results of a novel configuration for guidance and tracking control laws for unmanned air vehicles (UAV). The proposed adaptive system is based on an extended non-linear dynamic inversion (NLDI) approach augmented with an artificial immune system mechanism that relies on a direct compensation inspired primarily by the biological immune system response. The implementation of the control laws is illustrated through HIL simulation using a mathematical model of an UAV research platform developed at Embry-Riddle Aeronautical University (ERAU) to support the design, testing and validation of bio-inspired fault tolerant adaptive control algorithms. The main objective of the control laws is to minimize forward, lateral, and vertical distances with respect to a desired trajectory, and maintain stability and adequate performance in the presence of sub-system failures. The performance of the control laws is evaluated during autonomous flight in terms of trajectory tracking errors, real-time execution on board the flight computer, and control activity at nominal and abnormal conditions. The results obtained with the ERAU-UAV HIL environment show that for all cases investigated the extended NLDI approach augmented with the immunity-based mechanism has desirable fault tolerant capabilities and is reliable for in-flight testing operation as a next step towards the validation and verification of this adaptive configuration.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation for an electronic clutch management system

Hardware-in-the-loop simulation for an electronic clutch man...

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1995 SAE International Congress and Exposition

作者： Krohm, Harald Gheorghiu, Victor AFT Atlas Fahrzeugtechnik GmbH Germany Fachhochschule Hamburg Germany

For ECU (Electronic Control Unit) development of LuK Electronic Clutch Management a hardware-in-the-loop application was generated from an existing off-line simulation environment. The development process, the HIL-structure, models, problems in implementing real-time-models, evaluation of models and comparison of numerical integration methods are described. © Copyright 1995 Society of Automotive Engineers, Inc.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation for a Multiaxial Suspension Test Rig with a Nonlinear Spatial Vehicle Dynamics Model 8

Hardware-in-the-Loop Simulation for a Multiaxial Suspension ...

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8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS)

作者： Traphoener, P. Olma, S. Kohlstedt, A. Fast, N. Jaeker, K-P. Traechtler, A. Paderborn Univ Heinz Nixdorf Inst Furstenallee 11 D-33102 Paderborn Germany

hardware-in-the-loop (HiL) simulations where a mechatronic system is used as the device under test (DUT), are established in the automotive sector for the design of active suspension components, e.g. roll-stabilizers. Usually, uniaxial actuator systems within the test rig are applied for the excitation of the DUT. However, in the context of mechatronic suspension systems incorporating multiple mechatronic subsystems, more sophisticated HiL test rigs / simulations with multiaxial excitation of the DUT are necessary. This contribution presents the model-based design of a HiL simulation for a multiaxial vehicle axle test rig. Within the HiL simulation a nonlinear spatial vehicle dynamics model with 36 states is used to reproduce the environment of the DUT in real-time. The implemented model and its requirements are described in detail. An appropriate HiL control framework is developed, which combines the vehicle dynamics model with the hybrid motion/force control of the manipulator systems. The primary actuator is a hydraulic hexapod. simulation results and measurements obtained with the HiL system show the effectiveness of this approach. The potential for chassis control validation and design is highlighted in comparison to a highly detailed benchmark vehicle dynamics model. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： hardware-in-the-loop simulation Vehicle axle test rig Efficient vehicle dynamics modeling Hybrid force/position control design

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hardware-in-the-loop simulation of vascular cannula interaction

Hardware-in-the-loop simulation of vascular cannula interact...

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45th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)

作者： Walter, Marian Puschke, Andreas Luebke, Cavan Kopp, Rtidger Leonhardt, Steffen Rhein Westfal TH Aachen Inst Med Informat Technol Fac Elect Engn & Informat Technol D-52074 Aachen Germany Uniklin RWTH Aachen Univ Dept Intens Care Med & Intermediate Care OIM D-52074 Aachen Germany

ISBN: (纸本)9798350324471

Traditionally, the functional development, testing and verification of higher level automation, control and safety functions in extracorporeal circulations systems relies very much on the conduction of animal experiments. This especially applies to functions requiring interaction with the patients physiology. Besides ethical aspects, animal experiments have the disadvantage of higher complexity, limited reproducibility and certain pathological conditions can only be represented with difficulty. An alternative to this can be hardware-in-the-loop (HIL) simulators. In this paper we present a HIL solution to simulate the hydraulic interaction between the cannula and the connected blood vessel. We derive a hydraulic model for an elastic vessel with particular emphasis on negative transmural pressure. In this case the resistance is mainly determined by collapse phenomena. The next section describes the design of an universal resistance actuator that can simulate vascular resistances in the expected range. Combined in the HIL simulator, the simulation model then generates the setpoint for the actuator while simultaneously receiving the resulting internal states of the hydraulic interface. This creates a truly interactive HIL simulator where the device under test interacts in the same way as with a physiological system.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation of Constraint Elements in Mechanical Systems

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5th International Workshop on Computational Kinematics

作者： Kaehler, Michael Woernle, Christoph Bader, Rainer Univ Rostock Chair Tech Dynam D-18059 Rostock Germany Univ Rostock Dept Orthopaed Rostock Germany

ISBN: (纸本)9783642019463

To simulate constraint elements of mechanical systems like joints or bearings in their environment a hardware-in-the-loop (HiL) simulator is proposed. It couples a real joint with a numerical simulation of its environment by means of an actuator system and sensors. The actual application standing behind this investigation is HiL testing of hip endoprostheses with respect to their dislocation behavior. HiL simulations allow the analysis of real system components in a virtual environment controlled by a computer and are thereby particularly advantageous if test conditions in the real environment of the system component are either too complex or impossible to apply like in vivo investigations of dislocation scenarios. As a preliminary research two fundamental variants for the coupling between the real joint and the simulation of the environment are discussed and experimentally demonstrated.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation platform of PMSM drives using FPGA

Hardware-in-The-loop simulation platform of PMSM drives usin...

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25th World Battery, Hybrid and Fuel Cell Electric Vehicle Symposium and Exhibition: Sustainable Mobility Revolution, EVS 2010

作者： Huang, Su-Rong Gao, Jin Zhang, Qi Automation department Shanghai University Shanghai 200072 China

To make rigorous evaluation before implementation on actual equipments with low cost and high flexibility, the hardware-in-The-loop (HIL) real-time simulation of Permanent Magnet Synchronous Machine (PMSM) drives based on Field Programmable Gate Array (FPGA) was proposed in this paper. The PMSM and inverter were modeled and then embed into a single FPGA chip, which was connected to a actual DSP-controller through I/O interface circuits to make the HIL simulator. The real-time simulation was carried on the HIL simulator with the 50MHz clock, and the experimental total delay (response time) was 4.14μs. The experimental results of the proposed HIL simulator (actual DSP-controller + FPGA-based HIL simulation models) were compared with another platform, which included a actual DSP-controller, actual inverter and a actual PMSM. The maximum difference between those two platforms was below 1.45%.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation of high-definition headlamp systems 9th

Hardware-in-the-loop simulation of high-definition headlamp ...

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9th VDI / VDE symposium on Control technology for automated driving and networked mobility, AUTOREG 2019

作者： Rüddenklau, Nico Gausemeier, Sandra Trächtler, Ansgar Heinz Nixdorf Institut Universität Paderborn Germany

ISBN: (纸本)9783180923666

Modern high-definition headlamp systems raise the possibilities for implementing new lighting functions to the next level. In order to exploit the newly gained potential, however, the headlamp control unit must process more complex algorithms and sensor information. The effort required to develop the control unit software thus rises considerably. Moreover, due to the increasing dynamic components of new types of lighting functions, only a fraction of the testing can be performed in the light channel and must be done with prototypes by timeconsuming and cost-intensive night drives. In addition, real driving situations cannot be reproduced due to the many environmental influences. Motivated by this, this article presents a real-time hardware-in-the-loop simulation of high-definition headlamp systems, through which these can be developed and analyzed for the first time in virtual night drives. © 2019, VDI Verlag GMBH. All rights reserved.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation of automatic steering control: Outer-loop and inner-loop control design

Hardware-in-the-loop simulation of automatic steering contro...

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11th International Conference on Control, Automation, Robotics and Vision, ICARCV 2010

作者： Ping, Em Poh Hudha, Khisbullah Harun, Mohd Hanif Bin Jamaluddin, Hishamuddin 76109 Durian Tunggal Melaka Malaysia 81310 UTM Skudai Johor Malaysia

ISBN: (纸本)9781424478132

This paper presents a 9-degree of freedom (DOF) vehicle model combined with a closed loop driver model for the purpose of developing vehicle lateral control. The driver model was developed to control the steering angle and uses the lookup table path as a reference for the control input. The proposed outer-loop controller structure for the driver model is a combination of proportional gain control with a yaw effect adaptive fuzzy logic control. A stepper motor model, rack and pinion model, and kinematics model of the steering system are also briefly introduced as an inner-loop sub-system for stepper motor actuated steering (SMAS) system. The proposed inner-loop controller is a closed-loop positioning control for the stepper motor. The performance of the outer-loop and inner-loop controllers were evaluated using predefined trajectory for lanekeeping and double lane change (DLC) maneuvers at 80 km/h constant speed. Both of the controller's software-in-the-loop simulations (SILS) results were validated using an instrumented automatic steering test rig through the hardware-in-the-loop simulation (HILS). The SILS and HILS results show that the proposed driver model is capable of improving the Y-axis trajectory error and maneuvers significantly and the proposed SMAS system is capable of tracking the desired steering angle position and producing the front wheel steer angle for the use of vehicle model. ©2010 IEEE.

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hardware-in-the-loop simulation as a stage of Plasma Control System Model-Based Design in Tokamaks: a Test Case

Hardware-in-the-loop Simulation as a stage of Plasma Control...

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IEEE International Conference on Control Applications (CCA)

作者： Mitrishkin, Yuri V. Efremov, Alexander A. Zenkov, Semjon M. Sushin, Ilya S. Dokuka, Vladimir N. Khayrutdinov, Rustam R. Russian Acad Sci VA Trapeznikov Inst Control Sci Moscow Russia Troitsk Inst Innovat & Thermonucl Res Moscow Russia

ISBN: (纸本)9781457710636

The paper is devoted to a hardware-in-the-loop simulation stage in the whole cycle of tokamak plasma control system design starting from practical needs and challenges and ending up in applications of developed control systems deployed in real world plants to achieve desirable objectives. Control problems of tokamak plasmas are described. The hardware-in-the-loop test case simulation is implemented into the Test Bed which consists of target PCs for modeling MIMO plant and controller on real-time operating system xPC Target from MathWorks and a workstation ( Host PC) with MATLAB/Simulink development environment. This environment allows to automatically generate and compile plant and controller codes with Real-Time Workshop and to upload compiled programs to the target PCs. The raw Ethernet is used to connect the target PCs to each other. Two plasma shape and current MIMO H-infinity control systems were designed and simulated on the Test Bed specifically for tokamaks T-15MD and ITER on linear plasma models obtained from nonlinear plasma physics DINA code on plasma current flat-top phase. The real time hardware-in-the-loop simulation results are presented for both tokamaks when minor disruptions occur.

关键词： Coils Computational modeling Control systems Ethernet Hâ?control ITER tokamak MATLAB MIMO systems MathWorks Real time systems Real-Time Workshop Shape Simulink T-15MD tokamak Tokamak devices Tokamaks control system CAD current MIMO Hâ?control system digital simulation electric current control hardware-in-the-loop simulation model-based design nonlinear plasma physics DINA code physical instrumentation control plasma current flat-top phase plasma shape control plasma simulation plasma toroidal confinement real-time operating system shape control tokamak plasma control system design xPC Target

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hardware-in-the-loop simulation of electronic control unit used on automated mechanical transmission

Hardware-in-the-loop simulation of electronic control unit u...

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International Conference on Computer Engineering and Technology

作者： Fan, Yue-Zhen Jiang, Fa-Chao Institute of Technology Beijing Forestry University Beijing 100083 China College of Engineering China Agricultural University Beijing 100083 China

ISBN: (纸本)9781424463503

The development of Automated Mechanical Transmission (AMT) can lightening drivers' labor intensity, improving vehicle power and economic performance. simulation technology can accomplish tests rapidly, shorten developing time and save study expense. A hardware In the loop simulation (HILS) system can be developed to debug, examine and evaluate the performance of Automated Mechanical Transmission Electronic Control (AMTECU). The system consists of data acquisition card, computer, AMT electronic control unit, and engine and chassis simulation model. And Engine's partial velocity characteristics model and universal characteristics model were established. The optimum dynamic performance and economic performance shift law was analyzed. An optimal work model of AMT was discussed. Dynamic and economic parameters are deduced. A simulation system was developed. © 2010 IEEE.

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