This paper addresses torque control and disturbance compensation for a load simulator used in hardware-in-the-loop simulations of robot manipulators. Focusing on the characteristics of a wide range of output torques a...
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hardware-in-the-loop (HIL) simulation has been an integral part of automotive control unit development for many years. Due to the fact that real controllers are tested, the guaranteed real-time capability of the simul...
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hardware-in-the-loop (HIL) simulation has been an integral part of automotive control unit development for many years. Due to the fact that real controllers are tested, the guaranteed real-time capability of the simulation environment represents a prerequisite for HIL simulation. For this reason, mainly basic, empirical tire models are used in HIL simulation so far, for example based on the Magic Formula of PACEJKA. Although those basic models deliver particularly short computing times, they reach their limits both in certain vehicle dynamics situations and with specific types of tires. This article therefore illustrates the use of the real-time capable physical tire model CDTire/Realtime combined with the open integration and test platform CarMaker on a HIL system to test a brake controller. With this approach, the simulation of several use cases modeling specific vehicle dynamics situations on the HIL test bench becomes possible. The first use case presented is ABS controlled braking on an uneven road. The entire tire is subjected to vibration, although the circumferential vibrations of the belt are not taken into account with basic models. The impacts of these vibrations on the simulation results are discussed. Another possible use case is the sudden loss of pressure in a tire and the resulting ESC control intervention. This application is entirely new in HIL testing of ESC control units, since the loss of pressure could not be modeled with basic tire models until now. In the future, the applications shown will continue to enable testing of controllers in the HIL network with tires that previously could only be simulated to a limited extend with basic tire models. One example are tractor tires, whose complex vibration behavior has a significant impact on vehicle dynamics. Similar tires are used on numerous other off-highway vehicles as well. With the results presented in this paper, the use of digital twins, so-called virtual prototypes, is also possible for thes
With the development of space technology, the missions of modern satellites are becoming more complicated. Therefore, it is essential to maintain a satellite's attitude to perform specific missions successfully. S...
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Controller hardware-in-the-loop (CHIL) simulation is an efficient design tool that directly tests control programs and codes for power electronics converters. However, when dealing with widely-used modular multilevel ...
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IEEE11073 SDC is a fast growing standard, which offers a lot of new oportunites for medical device manufacturers and their customers. The goal of this Standard is to decrease the workload for nurses and doctors and in...
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This paper introduces a design method of a hardware-in-the-loop simulation system applied to a certain type of image-guided missile. By studying the characteristics of a certain type of image-guided missile, the worki...
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Fish-inspired robots offer numerous advantages, including improved maneuverability, reduced power consumption, and quieter actuation than traditional propeller-based underwater robots. However, designing effective con...
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For the aircraft electric braking system which is applied more and more widely in the field of aircraft braking, to better validate the product performance of aircraft electric braking under the condition of low cost,...
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The quadcopter as one of the UAV (Unmanned aerial vehicles) is inherently unstable, and has six degrees of freedom (6 DOF), while the number of control inputs is four. The present work presents a sequential methodolog...
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The quadcopter as one of the UAV (Unmanned aerial vehicles) is inherently unstable, and has six degrees of freedom (6 DOF), while the number of control inputs is four. The present work presents a sequential methodology to analyze and explain the control mechanism of quadcopter-UAV in academic and research institutions. This methodology includes simulation, modelling, attitude control, hardware in-the loop (HIL) testing methodology, performance evaluation, and an experimental testing platform. Coordinate systems, kinematics, and dynamics systems are derived in great detail. Then, a real-time test platform is designed to verify system stability in a safe environment. (HIL) simulation was performed by the Pixhawk flight controller board interfaced with the Mission Planner platform. The numerical results include the control parameters of the quadcopter position (phi, theta, psi), and the translation values. The simulation results showed high and reliable performance both at the desired roll, pitch, and yaw angles as well as at the quadcopter position in the coordinate axes. Furthermore, the results of the real-time experiments (indoor/outdoor flight tests) have successfully demonstrated good stability and high response. Based on the methodology used in this research, the cost and risk of real-time flight experiments for UAVs have been reduced.
HIL (hardware-in-the-loop) simulation is widely used in the development of automotive functional software because of its high efficiency and low cost. As one of the most widely used automotive active safety systems, t...
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