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Design of a 6-DoF Robotic Platform for Wind Tunnel Tests of Floating Wind Turbines

Energy Procedia 2014年 53卷 313-323页

作者： I. Bayati M. Belloli D. Ferrari F. Fossati H. Giberti Politecnico di Milano Dipartimento di Meccanica Via La Masa 1 20156 Milano Italy

Sophisticated computational aero-hydro-elastic tools are being developed for simulating the dynamics of Floating Offshore Wind Turbines (FOWTs). The reliabilty of such prediction tools for designers requires experimental validation. To this end, due to the lack of a large amount of full scale data available, scale tests represent a remarkable tool. Moreover, due to the combined aerodynamic and hydrodynamic contributions to the dynamics of FOWTs, experimental tests should take into account both. This paper presents the design process of a 6-Degrees-of-Freedom robot for simulating the dynamics of FOWTs in wind tunnel scale experiments, as a complementary approach with respect to ocean wind-wave basin scale tests. Extreme events were considered for the definition of the robot requirements and performance. A general overview on the possible design solutions is reported, then the machine architecture as well as the kinematic and dynamic analysis is discussed. Also a motion task related to a 5-MW Floating Offshore Wind Turbine nominal operating condition was considered and then the ability of the robot to reproduce such motions verified in terms of maximum displacements, forces and power, to be within the design boundaries.

关键词： Floating Offshore Wind Turbines Aero-hydro-elasticity Wind Tunnel Wind Energy hardware-in-the-loop Hexapod Hexaglide.

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Real-time implementation of improved power frequency approach based energy management of fuel cell electric vehicle considering storage limitations

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ENERGY 2022年第0期249卷 1页

作者： Badji, Abderrezak Abdeslam, Djaffar Ould Chabane, Djafar Benamrouche, Nacereddine Univ Bourgogne Franche Comte FEMTO ST Inst CNRS UTBM Belfort France Univ Bourgogne Franche Comte FCLAB FEMTO ST Inst CNRS Belfort France Univ Haute Alsace IRIMAS Lab 61 Rue Albert Camus F-68093 Mulhouse France Mouloud Mammeri Univ Tizi Ouzou LATAGE Lab BP 17RP 15000 Tizi Ouzou Algeria

This paper proposes and experimentally validates an online energy management system (EMS) based on improved power frequency approach to meet the load requirements and enhance operating efficiency of fuel cell electric vehicle (FCEV). Within the proposed approach, a frequency-driven power splitter is used to assign lower frequencies of power demand towards the fuel cell and higher frequencies to the supercapacitor, which is used as a peak power unit. Subsequently, battery is directly connected with the DC bus, which behaves as an energy buffer. To realize the limitations of storage devices, a local supervisor is integrated in the frequency-based approach. Using the energy macroscopic representation (EMR), the details of FCEV components and power frequency approach are described. In addition, the interactions and energy exchanges between sources are analyzed. The proposed approach is experimentally validated using Opal-RT and dSPACE systems within hardware-in-the-loop (HIL) platform. Based on the experi-mental set-up, proposed EMS is tested under real-time conditions. Experimental results show stable vehicular operation and improved performance of FCEV in different real-world driving cycles. (c) 2022 Published by Elsevier Ltd.

关键词： Energy management Frequency-splitting Supervisor Energetic macroscopic representation hardware-in-the-loop

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Finite element periodic catenary model to perform HIL pantograph tests considering non-linear dropper behaviour

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FINITE ELEMENTS IN ANALYSIS AND DESIGN 2022年 210卷

作者： Gil, J. Tur, M. Gregori, S. Correcher, A. Fuenmayor, F. J. Univ Politecn Valencia Inst Ingn Mecan & Biomecan Camino Vera s-n Valencia 46022 Spain Univ Politecn Valencia Inst Automat & Informat Ind Camino Vera s-n Valencia 46022 Spain

In this paper, we propose a general approach to compute the dynamic response of periodic infinite structures subjected to a moving load. The method only considers one repetitive block of the structure which is modelled by the Finite Element Method. The problem is first shifted to the frequency domain where the periodicity condition is easily applied and then the temporal response is obtained. An infinite periodic catenary system has been chosen to illustrate the proposed formulation. The linear formulation is extended to include the non-linear behaviour of droppers. The efficiency and accuracy of the catenary model obtained makes it very suitable for use in hardware in the loop (HIL) pantograph tests. We propose to combine this catenary model with an iterative strategy to achieve the steady-state response of the coupled system and its performance is analysed in a virtual HIL simulation.

关键词： Non-linear periodic structures Moving load Pantograph-catenary interaction hardware-in-the-loop Finite Element Method

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Smart Grid Research and Educational Kit to Enable the Control of Power Electronic-based Systems from Simulations to Experiments in Hours

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IFAC-PapersOnLine 2020年第2期53卷 17586-17591页

作者： Qing-Chang Zhong Yeqin Wang Mohammad Amin Yiting Dong Beibei Ren Illinois Institute of Technology & Syndem LLC Chicago IL 60616 USA Syndem LLC Chicago IL 60616 USA Norwegian University of Science and Technology NO-7491 Trondheim Norway Texas Tech University Lubbock TX 79409 USA

Control and power electronics are two major enablers for the paradigm shift of power systems from centralized generation to distributed generation, the electrification of transportation, and the transformation of billions of lives in third-world countries. Experimental validations of control algorithms for these systems play a vital role. However, setting up a suitable experimental system requires time, effort, and a broad range of expertise. This demonstration session aims to help researchers, graduate students, and engineers remove the barriers to go real from simulations to experiments for various power electronic-based systems. It shows that it is possible to obtain experimental results within hours after completing simulations by adopting the SYNDEM Smart Grid Research and Educational Kit, which is a reconfigurable, open-source, multifunctional power electronic converter with the capability of directly downloading codes from Matlab/Simulink. This will maximize the strengths of the control community in developing control algorithms, minimize the efforts on developing hardware systems and programming control algorithms, and improve the efficiency and productivity of research and learning.

关键词： Control education smart grid microgrid control implementation hardware-in-the-loop rapid control prototyping renewable energy distributed energy resources (DER) power electronics electrical drive wind power solar power storage systems from simulation to experiments

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Raspberry Pi-based HIL simulators for control education

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IFAC-PapersOnLine 2019年第9期52卷 68-73页

作者： J. Sobota M. Goubej J. Königsmarková M. Čech University of West Bohemia / NTIS - European center of excellence Pilsen Czech Republic

Excluding hands-on experience with physical plants from control education is tempting in many aspects, but at the same time it is very dangerous. This paper explains why and recommends a compromise between demanding maintenance of physical plants for students to control and relying on pure numeric simulations within the whole curriculum. The golden mean might be the use of real-time simulators with physical inputs and outputs, i.e. hardware-in-the-loop (HIL) simulators. Three examples of HIL simulators are presented, covering a coupled tanks model, a quarter-car model and a nuclear reactor model.

关键词： Control education real-time simulation hardware-in-the-loop HIL Raspberry Pi

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Adaptive evolutionary jellyfish search algorithm based optimal photovoltaic array reconfiguration under partial shading condition for maximum power extraction

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EXPERT SYSTEMS WITH APPLICATIONS 2023年 215卷

作者： Yang, Bo Zhang, Mengting Guo, Zhengxun Cao, Pulin Yang, Jin He, Guobin Yang, Jinxin Su, Rui Huang, Xuyong Zhu, Mengmeng Lu, Hai Zhu, Dongdong Kunming Univ Sci & Technol Fac Elect Power Engn Kunming 650500 Peoples R China Yunnan Power Grid Co Ltd Dali Power Supply Bur Dali 671000 Peoples R China Yunnan Power Grid Co Ltd Elect Power Res Inst Kunming 650217 Peoples R China Yunnan Power Grid Elect Power Test & Res Inst Kunming 650217 Peoples R China Zhejiang Guozi Robot Technol Co Ltd Hangzhou 310000 Zhejiang Peoples R China

This paper proposes an adaptive evolutionary jellyfish search algorithm (AEJSA) to optimally reconfigure photovoltaic (PV) array under partial shading condition (PSC) for real-time maximum power extraction. Jellyfish search algorithm (JSA) is selected owing to its effectiveness for real-time optimization. Besides, a series of discrete operations are performed on JSA to solve the discrete optimization problem of PV array reconfiguration. Due to the inherent drawback of JSA that it is easy to trap at the local optimal solution, an adaptive threshold for changing search mechanism is adopted to balance the local exploration and global exploitation. If the number of times that the value of objective function keeps unchanged exceeds this threshold, three operations (exchange, moving, and inver-over) will be implemented on the whole population for a wide global exploitation. In addition, to verify the feasibility of the hardware implementation of AEJSA, a hardware-in-the-loop test on a RTLAB platform is employed. Eleven meta-heuristic algorithms are applied and compared to AEJSA under objective PSC and subjective PSC to evaluate the optimized performance of AEJSA under various shadow conditions. The simulation results show that the mismatched power loss obtained by AEJSA is smallest, which reduced by 7.26% against gravitational search algorithm.

关键词： PV array reconfiguration Partial shading condition Adaptive evolutionary jellyfish search algorithm Maximum power extraction hardware-in-the-loop

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A self-suspended MEMS film convertor for dual-band infrared scene projection

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INFRARED PHYSICS & TECHNOLOGY 2020年 105卷 103231-000页

作者： Zhou, Lang Wang, Xin Yang, Suhui Zhang, Jinying Gao, Yanze Xu, Chang Li, Defang Shi, Qingfeng Li, Zhuo Beijing Inst Technol Sch Opt & Photon Zhongguancun South St 5 Beijing 100081 Peoples R China Beijing Key Lab Precis Optoelect Measurement Inst Beijing 100081 Peoples R China

A self-suspended MEMS film convertor used for infrared scene projection was proposed. The film convertor was based on a thin composite film with submicron thickness and high absorption of 95% in visible wavelength range. The microstructure arrays were fabricated by multiple lithography and dry/wet-etching processes to form 1300 x 1300 pixels. By optimizing the geometric parameters of the microstructure, the in-plane thermal dif- fusion distance was limited to 125 mu m. The spatial resolution was therefore improved. Based on this MEMS film convertor, an infrared scene projector was built and its properties were tested. Illuminated by a 532 nm laser, an infrared image with the maximum apparent temperature of 489 K was obtained under the laser power density of 6.4 mW/mm(2). By cooling to 278 K, the thermal rising and decay time constants were 5.02 and 2.76 ms, respectively. It indicated that infrared scenes would have a possible frame rate of higher than 100 Hz. The radiation spectrum was similar to a blackbody spectrum, which covered both 3-5 and 8-12 mu m wavelength range. These unique properties of the MEMS film convertor made it an ideal candidate to be used in a hardware-in-theloop simulation system for infrared imaging device performance evaluation.

关键词： hardware-in-the-loop Infrared scene projection MEMS film convertor Self-suspended Optical thermal properties Dual-band

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A Tool Chain for Model-based Development of Heat Pump Dryers

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Procedia Technology 2016年 26卷 357-364页

作者： Marcos Bockholt Michael Katter Georg Pohl Jan Michael Thomas Alpögger Miele & Cie KG Carl-Miele-Str. 29 33332 Gütersloh Germany Fraunhofer-Einrichtung für Entwurfstechnik Mechatronik Zukunftsmeile 1 33102 Paderborn Germany Technische Universität Braunschweig Institut für Thermodynamik Hans-Sommer-Str. 5 38106 Braunschweig Germany

This work describes a tool chain structured and synchronised in the actual development process of environment friendly heat pump tumble dryers for a sustainable model-based systems engineering. The challenge, the benefit and the success of a hardware- in-the-loop (HiL) test bench is presented as an example to demonstrate the sustainability of the tool chain.

关键词： model-based development heat pump laundry dryers object-oriented modelling of thermodynamic systems hardware-in-the-loop

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Human-Computer-Machine Interaction for the Supervision of Flexible Manufacturing Systems: A Case Study

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IFAC-PapersOnLine 2020年第2期53卷 10550-10555页

作者： Jose Daniel Hernandez Edgar Schneider Cespedes David Andres Gutierrez David Sanchez-Londoño Giacomo Barbieri Sepideh Abolghasem David Romero Luca Fumagalli Department of Mechanical Engineering Universidad de los Andes Bogotá (Colombia) Department of Industrial Engineering Universidad de los Andes Bogotá (Colombia) Xcelgo A/S Denmark Tecnológico de Monterrey Monterrey (Mexico) Department of Management Economics and Industrial Engineering Politecnico di Milano (Italy)

Production is moving from mass-production to ‘mass-customization’ and ‘personalization’ (lot-size-one). Accordingly, modern manufacturing systems must become more agile and responsive to changing global markets and closer to customers. Industry 4.0 technologies have the premises to face these changes in the production paradigm. However, technologies must be supported by methodological approaches focused on the process to be optimized, digitalized, and made more flexible. In this paper, we propose a seamless Human-Computer-Machine Interaction (HCMI) architecture for supporting the supervision activity of the operator in the context of flexible manufacturing systems. The suggested interaction is implemented and validated using a lab case study where we demonstrate how the proposed HCMI architecture, in line with the Industry 4.0 architectural design principles, enables ‘close-to-realtime’ supervision of the manufacturing system in its self-adaptation to production changes.

关键词： Human Operator Support Adjustable Autonomy Adaptive Autonomy hardware-in-the-loop Modeling Simulation Flexible Manufacturing Systems Reconfigurable Manufacturing Systems Manufacturing Operations Process Supervision

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Investigation of Timing Behavior and Jitter in a Smart Inertial Sensor Debugging Architecture

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SENSORS 2021年第14期21卷 4675-4675页

作者： Gis, Daniel Buescher, Nils Haubelt, Christian Univ Rostock Fac Comp Sci & Elect Engn Inst Appl Microelect & Comp Engn D-18059 Rostock Germany

Due to upcoming higher integration levels of microprocessors, the market of inertial sensors has changed in the last few years. Smart inertial sensors are becoming more and more important. This type of sensor offers the benefit of implementing sensor-processing tasks directly on the sensor hardware. The software development on such sensors is quite challenging. In this article, we propose an approach for using prerecorded sensor data during the development process to test and evaluate the functionality and timing of the sensor firmware in a repeatable and reproducible way on the actual hardware. Our proposed Sensor-in-the-loop architecture enables the developer to inject sensor data during the debugging process directly into the sensor hardware in real time. As the timing becomes more critical in future smart sensor applications, we investigate the timing behavior of our approach with respect to timing and jitter. The implemented approach can inject data of three 3-DOF sensors at 1.6 kHz. Furthermore, the jitter shown in our proposed sampling method is at least three times lower than using real sensor data. To prove the statistical significance of our experiments, we use a Gage R&R analysis, extended by the assessment of confidence intervals of our data.

关键词： inertial sensors evaluation hardware-in-the-loop repeatability reproducibility smart sensor

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