To address the issue of increased fuel consumption and reduced efficiency caused by excessive slip of the drive wheels during tractor ploughing operations, this paper considered the time-varying, uncertain, and highly...
详细信息
作者：
Rathogwa, Khangwelo LoydKrishnamurthy, Senthil
Department of Electrical Electronic and Computer Engineering Cape Peninsula University of Technology P.O. Box 1906 Bellville Cape Town7535 South Africa
Large generators are essential components in a power plant for ensuring the steady production and delivery of electric power for various purposes;thus, the generator protection system significantly impacts power syste...
详细信息
Normally, a single-trailer truck will lose its manoeuvrability when driving at a high speed during cornering or sudden lane changing manoeuvres. In order to improve the manoeuvrability and to avoid rollover accident, ...
详细信息
Normally, a single-trailer truck will lose its manoeuvrability when driving at a high speed during cornering or sudden lane changing manoeuvres. In order to improve the manoeuvrability and to avoid rollover accident, this study proposes an active roll control (ARC) using steerable-wheel system at middle axle for single-trailer truck. The system is developed to reject the unwanted yaw, lateral and roll motions based on trailer responses. The control structure of the ARC system is developed on a verified 18-DOF of single-trailer truck model. PID controller as trailer's roll angle feedback control is applied in the control structure and additional roll moment cancellation control using skyhook controller. From the experimental results using hardware-in-the-loop simulation (HiLS), a good similarity between simulation and experiment is observed for yaw rate, roll angle and lateral acceleration responses. It also shows that the developed steerable-wheel system was managed to reduce the unwanted lateral, yaw and roll motions.
In 2018, the Commonwealth of Virginia passed the Grid Transformation & Security Act;one of its major purposes was to modernize the distribution grid In response, Dominion Energy Virginia implemented a plan to expa...
详细信息
ISBN:
(纸本)9798350381849;9798350381832
In 2018, the Commonwealth of Virginia passed the Grid Transformation & Security Act;one of its major purposes was to modernize the distribution grid In response, Dominion Energy Virginia implemented a plan to expand its Locks Campus and install a microgrid, with the core objective of enhancing grid security and system resilience. Once new construction is complete and distributed energy resources (DERs) are added, Dominion Energy will be able to observe the microgrid operations with real-time data. The Locks Microgrid will incorporate primarily inverter-based resources (IBRs), including five solar systems and a battery energy storage system. These IBRs possess distinct attributes that contrast with traditional synchronous generators, which could lead to challenges in executing protection mechanisms. One potential issue is IBRs' limited contribution to fault current, which could result in the misoperation of protective relays. One proposed solution was to put a protection scheme and control strategies in place at the recloser. To achieve this, Dominion constructed a real-time model of the Locks Microgrid using a real-time digital simulator. This model was then subjected to hardware-in-the-loop simulations to validate the protective relay systems' performance. The outcomes of these simulations confirmed the efficacy of the proposed protection and control approaches.
Effective control techniques are essential for offshore platform systems to suppress disturbances caused by the complex marine environment and ensure the stable operation of the systems during the exploration of marin...
详细信息
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 experime...
详细信息
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.
This paper presents a hardware-in-the-loop (HiL) simulation framework for unmanned aerial vehicles (UAV) to validate the simulation models and the performance of autonomous algorithms under realistic flight conditions...
详细信息
In view of the complex movement of the boost-glide rocket, the navigation system is difficult to carry out large-scale flight tests, a hardware-in-the-loop simulation scheme is designed to test the inertial navigation...
详细信息
We implemented a robustness analysis method for input disturbances called input-to-state safety (ISSf) using a hardware-in-the-loop (HIL) simulator. The system that will be used is a 3D trajectory model, where the con...
详细信息
Autonomous surface manipulator systems (ASMS) are novel, versatile robotics platforms consisting of manipulators and unmanned surface vehicles (USVs) on the water. One of their typical tasks is to grasp floating objec...
详细信息
Autonomous surface manipulator systems (ASMS) are novel, versatile robotics platforms consisting of manipulators and unmanned surface vehicles (USVs) on the water. One of their typical tasks is to grasp floating objects using visual servo control (VSC) methods. However, traditional VSC methods use joint velocities of the manipulator as control objects and they cannot be directly applied to ASMS because of the inability to control the manipulators that use joint angles as motion instructions, and the inability to adjust controller parameters based on ASMS's stability during grasping processes. In addition, it is a challenge to test the grasping performance of ASMS safely and efficiently. To address these issues, this article first develops a 12-degree-of-freedom ASMS model that considers the dynamic coupling between the manipulator and the USV, and proposes a normalized stability index for ASMS. Then, an optimized VSC method is proposed, which employs the joint angles of the manipulator as control targets and can adjust the control gains according to ASMS's stability. After that, a digital twin-driven hardware-in-the-loop simulation platform is developed for experiments. The experimental results validate that the optimized VSC method can improve the grasping success rate and stability of ASMS while maintaining high grasping efficiency.
暂无评论