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A VNS Algorithm for PID Controller: hardware-in-the-loop Approach

IEEE LATIN AMERICA TRANSACTIONS 2021年第9期19卷 1502-1510页

作者： Silva, Guilherme Silva, Pedro Santos, Valeria Rego Segundo, Alan Kardek Luz, Eduardo Moreira, Gladston Univ Fed Ouro Preto Control & Automat Engn BR-35400000 Ouro Preto MG Brazil Univ Fed Ouro Preto Comp Dept BR-35400000 Ouro Preto MG Brazil

Tuning the Proportional Integral Derivative, or PID, controller in cyber-physical systems is a major challenge as it requires advanced mathematical skills. Several authors in the literature have shown that optimization algorithms are efficient for auto-adjust PID controller constants, especially when there is no mathematical modeling. However, the literature lacks works that show the efficiency of the Variable Neighborhood Search (VNS) algorithm to auto-adjust the PID. In this work, we investigate the efficiency of the Variable Neighborhood Algorithm to fine-tune a PID controller of a real cyber physical-system: a birotor flying drone. The approach consists of applying a numerical neighborhood structure to optimize the three constants of the PID, according to a proposed fitness function. Experiments reveal the feasibility of fine-tuning the PID controller and the birotor balancing with the Variable Neighborhood Algorithm with reduced time. We compared the VNS-approach against one based on genetic algorithms, and on average, the VNS-approach achieves better results with lower computational and memory costs. Results suggest that the approach may be used in real or commercial systems, helping to fine-tune the controller to new environment changes or even last-minute project modifications.

关键词： Genetic algorithms hardware Manuals IEEE transactions Drones Cyber-physical systems Benchmark testing VNS Cyber-physical systems Proportional Integral Derivative Self-tuning hardware-in-the-loop

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Validation of a hardware-in-the-loop simulator for investigating and actively damping regenerative chatter in orthogonal cutting

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CIRP JOURNAL OF MANUFACTURING SCIENCE AND TECHNOLOGY 2020年 29卷 115-129页

作者： Sahu, G. N. Vashisht, S. Wahi, P. Law, M. Indian Inst Technol Kanpur Machine Tool Dynam Lab Kanpur 208016 Uttar Pradesh India Indian Inst Technol Kanpur Dept Mech Engn Kanpur 208016 Uttar Pradesh India

Machine tool productivity and part surface quality are fundamentally limited by chatter occurring due to regenerative type self-excited vibrations. Efficacy of the existing high-fidelity chatter models to help avoid chatter in real industrial settings remains limited due to the uncertainties in machine tools. To help validate models without the vagaries of the uncertainties and without damaging real machine tool systems, this paper discusses the use of a mechatronic hardware-in-the-loop (HiL) simulator that offers a platform for investigation on chatter. The HiL simulator is a hybrid system of hardware and software components substituting the actual cutting tool-workpiece interaction through an actuator exciting a flexure by an emulated real time cutting force. For the simulator to faithfully represent the physics of the process-machine interactions, experimentally characterized stability behavior with the HiL must necessarily follow model predictions. However, the transfer between the hardware and the software layers of the HiL simulator involves inevitable delays that result in diverging stability behavior. We hence present systematic investigations to identify and compensate the delay in the hardware layer on account of the actuator and the transducers, as well as delays in the software layer on account of signal conditioning. The validated HiL simulator is then used as an experimental platform to investigate the effectiveness of four different control strategies for an active damping system. Being a non-destructive, cost-effective and repeatable platform, the HiL simulator opens up further possibilities for validation of high-fidelity chatter models. (C) 2020 CIRP.

关键词： hardware-in-the-loop Machine tool chatter Active damping Delay estimation Digital control

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Student-tailored final year project on microcontroller-based hardware-in-the-loop speed control of a wind generator

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INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION 2018年第3期55卷 213-233页

作者： Larruscain, Gorka Tapia, Gerardo Susperregui, Ana Itsaso Martinez, M. Univ Basque Country UPV EHU Fac Engn Dept Automat Control & Syst Engn San Sebastian Spain

Student-supervisor cooperation was carried out to design the inter-subject final year project reported in this paper. According to the student feedback, this approach allowed gathering his main interests - vector control, microcontroller programming and wind power generation - together, therefore reinforcing his motivation towards his final year project and making him feel particularly responsible for its outcome. Microcontroller-based hardware-in-the-loop emulation made possible to combine the three afore-cited student interests. In this context, the virtual prototype of a current-controlled wind turbine-driven 2-MW permanent-magnet synchronous generator is presented, along with the pseudo-code corresponding to the permanent-magnet synchronous generator speed control algorithm programmed in an 8-bit microcontroller. In addition, tuning formulas are derived for the digital integral-proportional controllers commanding both the permanent-magnet synchronous generator current and speed. Detailed descriptions are provided in order to guarantee reproducibility. Implementation of the hardware-in-the-loop rig is also tackled, supported by illustrative results obtained when running it. The developed hardware-in-the-loop rig is considered suitable for laboratory practices of subjects like digital control and microcontroller programming.

关键词： Digital control hardware-in-the-loop microcontroller permanent-magnet synchronous generator pole placement wind power

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A Parameter Dimension Reduction-Based Estimation Approach to Enhance the Kinematic Accuracy of a Parallel hardware-in-the-loop Docking Simulator

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ROBOTICA 2021年第6期39卷 959-974页

作者： Hu, Yan Gao, Feng Zhao, Xianchao Yang, Tianhao Shen, Haoran Qi, Chenkun Cao, Rui Shanghai Jiao Tong Univ Sch Mech Engn State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Shanghai Aerosp Equipment Manufacture Co Ltd Shanghai 200245 Peoples R China

The docking simulators are significant ground test equipment for aerospace projects. The fidelity of docking simulation highly depends on the accuracy performance. This paper investigates the kinematic accuracy for the developed docking simulator. A novel kinematic calibration method which can reduce the number of parameters for error modeling is presented. The principle of parameters separation is studied. A simplified error model is derived based on Taylor series. This method can contribute to the simplification of the error model, fewer measurements, and easier convergence during the parameters identification. The calibration experiment validates this method for further accuracy enhancement.

关键词： Kinematics Accuracy Parallel robot hardware-in-the-loop Docking simulator

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Stabilization of Power hardware-in-the-loop simulations of electric energy systems

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SIMULATION MODELLING PRACTICE AND THEORY 2011年第7期19卷 1699-1708页

作者： Viehweider, Alexander Lauss, Georg Felix, Lehfuss Univ Tokyo Dept Adv Energy Chiba 2778561 Japan Austrian Inst Technol Dept Energy Business Unit Elect Energy Syst Innsbruck Austria

Power hardware-in-the-loop - as a particular simulation technology that includes real hardware with high power rating in the simulation loop - is used more and more in the scientific field. Power hardware-in-the-loop simulations may suffer - depending on the attached power hardware and the simulated subsystem - from the drawback of becoming unstable without appropriate countermeasures. This contribution introduces and compares three methods to guarantee stability under unfavorable stability conditions. The three methods behave differently as far as accuracy is concerned. Multi-Rate Partitioning is introduced as a good compromise between effort and performance. (C) 2011 Elsevier B.V. All rights reserved.

关键词： hardware-in-the-loop Stability Filtering Multi-rate

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Wave Energy Optimal Control Structure With Second-Order Sliding Mode Tracking: hardware-in-the-loop Assessment

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IEEE TRANSACTIONS ON SUSTAINABLE ENERGY 2024年第2期15卷 1341-1350页

作者： Mosquera, F. D. Faedo, N. Evangelista, C. A. Ringwood, J. V. Puleston, P. F. Univ Nacl La Plata Inst Invest Elect Control & Proc Senales LEICI RA-B1900 La Plata Argentina Politecn Torino Marine Offshore Renewable Energy MORE Lab I-10129 Turin Italy Maynooth Univ Ctr Ocean Energy Res COER Maynooth W23 X021 Ireland

This article presents a hardware-in-the-loop assessment of a moment-based optimal controller including a robust super-twisting tracking term. The aim of the overall control structure is to maximise the energy extracted by a flap-type wave energy converter. An experimental assessment is performed via hardware-in-the-loop testing, which allows experiments in a controlled environment and repeatable conditions. Key aspects of the control structure are analysed in the results, with particular focus on the behaviour of the second-order sliding mode tracking term. Robustness against modelling uncertainties and finite-time convergence are evaluated, initially for a single sea state, and then across three different sea conditions. Excellent tracking performance is observed for all considered operating conditions. Finally, the super-twisting algorithm in the tracking loop is compared with the performance of a linear controller synthesised based on Youla-Ku & ccaron;era parametrisation, observing that the former presents better tracking capabilities, also outperforming in terms of energy extraction.

关键词： hardware-in-the-loop energy-maximising control moment-based control super-twisting control finite-time convergence

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hardware-in-the-loop Testing of a Deep Deterministic Policy Gradient Algorithm as a Microgrid Secondary Controller

Hardware-in-the-loop Testing of a Deep Deterministic Policy ...

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2023 IEEE PES Innovative Smart Grid Technologies Europe, ISGT EUROPE 2023

作者： Barbalho, Pedro I.N. Coury, Denis V. Lacerda, Vinicius A. Fernandes, Ricardo A.S. Department of Electrical and Computing Engineering São Carlos School of Engineering University of São Paulo São Carlos Brazil Centre d’Innovacio Tecnològica en Convertidors Estatics i Accionaments Universitat Politècnica de Catalunya Barcelona Spain Department of Electrical Engineering Center of Exact Sciences and Technology Federal University of São Carlos São Carlos Brazil

ISBN: (纸本)9798350396782

Microgrids play an important role in distribution system modernization by coordinating distributed energy resources and local loads. Microgrids require well-designed adaptive controllers to ensure stability in all operating points, e.g., reinforcement learning algorithms. However, recently published papers have proposed reinforcement learning-based controllers only on a simulation basis, without showing results regarding the controller performance in hardware implementation. Thus, this paper focuses on a deep deterministic policy gradient-based microgrid secondary controller in a hardware-in-the-loop setup. Its performance was analyzed and compared with the grid’s standard controller, comprised by classical tools. The DDPG controller implemented in hardware reduced the steady-state error, increased the system speed response, and reduced deviations caused by the events. © 2023 IEEE.

关键词： hardware-in-the-loop microgrids reinforcement learning secondary control

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Interconnection Standard Grid-Support Function Evaluations Using an Automated hardware-in-the-loop Testbed

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IEEE JOURNAL OF PHOTOVOLTAICS 2018年第2期8卷 565-571页

作者： Johnson, Jay Ablinger, Ron Bruendlinger, Roland Fox, Bob Flicker, Jack Sandia Natl Labs Albuquerque NM 87185 USA Austrian Inst Technol A-1220 Vienna Austria SunSpec Alliance San Jose CA 95117 USA

Grid operators are increasingly turning to advanced grid-support functions in distributed energy resources (DER) to assist with distribution circuit voltage regulation, bulk system frequency control, and power system protection. The U.S. DER certification standard, Underwriters Laboratories (UL) 1741, was revised in September 2016 to add test procedures for multiple grid-support functions. Sandia National Laboratories, SunSpec Alliance, and growing community of collaborators have undertaken a multiyear effort to create an open-source system validation platform (SVP) that automates DER interconnection and interoperability test procedures by communicating with grid simulators, photovoltaic (PV) simulators, data acquisition systems, and interoperable equipment under test. However, the power hardware required for generating the test conditions may be untenable for many organizations. Herein, we discuss development of the SVP testing capabilities for UL 1741 tests utilizing a controller hardware-in-the-loop testbed that precludes the need for power hardware using a 34.5 kW Austrian Institute of Technology smart grid controller. Analysis of normal ramp rate, soft start ramp rate, specified power factor, volt-VAr, and frequency-watt advanced grid functions, and the effectiveness of the UL 1741 test protocols are included.

关键词： Advanced inverter functions certification testing controller hardware-in-the-loop (CHIL) hardware-in-the-loop Underwriters Laboratories (UL) 1741

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Dynamic modelling and hardware-in-the-loop testing of PEMFC

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JOURNAL OF POWER SOURCES 2006年第2期157卷 816-827页

作者： Vath, A Lemes, Z Mäncher, H Söhn, M Nicoloso, N Hartkopf, T Tech Univ Darmstadt Inst Elekt Energie Wand Lund D-64283 Darmstadt Germany MAGNUM Automatisierungstechn GmbH D-64293 Darmstadt Germany

Modelling and hardware-in-the-loop (HIL) testing of fuel cell components and entire systems open new ways for the design and advance development of FCs. In this work proton exchange membrane fuel cells (PEMFC) are dynamically modelled within MATLAB-Simulink at various operation conditions in order to establish a comprehensive description of their dynamic behaviour as well as to explore the modelling facility as a diagnostic tool. Set-up of a hardware-in-the-loop (HIL) system enables real time interaction between the selected hardware and the model. The transport of hydrogen, nitrogen, oxygen, water vapour and liquid water in the gas diffusion and catalyst layers of the stack are incorporated into the model according to their physical and electrochemical characteristics. Other processes investigated include, e.g., the membrane resistance as a function of the water content during fast load changes. Cells are modelled three-dimensionally and dynamically. In case of system simulations a one-dimensional model is preferred to reduce computation time. The model has been verified by experiments with a water-cooled stack. (c) 2006 Elsevier B.V. All rights reserved.

关键词： PEM fuel cell dynamic modelling hardware-in-the-loop test benches fuel cell vehicle

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Design and implementation of a hardware-in-the-loop simulation platform for a tail-sitter UAV

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AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2023年第6期95卷 985-994页

作者： Zou, Xu Liu, Zhenbao Zhao, Wen Wang, Lina Northwestern Polytech Univ Sch Civil Aviat Xian Peoples R China Northwestern Polytech Univ Res & Dev Inst Shenzhen Peoples R China

PurposeA high-fidelity simulation platform helps to verify the feasibility of the controller and reduce the cost of subsequent experiments. Therefore, this paper aims to design a high-fidelity hardware-in-the-loop (HIL) simulation platform for the tail-sitter vehicles. Design/methodology/approachThe component breakdown approach is used to develop a more reliable model. Thruster dynamics and ground contact force are also modeled. Accurate aerodynamic coefficients are obtained through wind tunnel tests. This simulation system adopts a mode transition method to achieve continuous simulation for all flight modes. FindingsSimulation results are in good agreement with the flight log and successfully predict the state of the vehicle. Originality/valueFirst, the effects of the propeller slipstream are considered. Second, most researchers ignore the parasitic drag caused by the landing gear and other appendages, which is discussed in this study. Third, a ground contact model is implemented to allow a realistic simulation of the takeoff and landing phases. Fourth, complete wind tunnel tests are conducted to obtain more accurate aerodynamic coefficients. Finally, a mode transition method is deployed in the HIL simulation system to achieve continuous simulation for all flight modes.

关键词： Unmanned aerial vehicle UAV VTOL Simulation hardware-in-the-loop MATLAB

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