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14th International Conference on Control, Automation, Robotics and Vision (ICARCV)

作者： Olma, Simon Kohlstedt, Andreas Traphoener, Phillip Jaeker, Karl-Peter Traechtler, Ansgar Paderborn Univ Heinz Nixdorf Inst Chair Control Engn & Mechatron D-33102 Paderborn Germany

ISBN: (纸本)9781509035496

For test rigs with multiaxial excitation of the specimen, the realization of a hardware-in-the-loop (HiL) simulation is a challenging task. In general, the excitation unit is a serial or parallel kinematic manipulator and the dynamic properties of the specimen vary in different spatial directions. Hence, the contact situation between the manipulator and the specimen requires extensive consideration. System instabilities and damage are possible. In this paper, it is demonstrated how indirect force controlled manipulators are used to provide realistic and safe HiL simulations. In this context, a HiL controller is developed for a highly dynamic vehicle axle test rig with a hydraulically actuated hexapod used as the excitation unit. The models of the HiL subsystems are shown first, and afterwards the design of the HiL controller is presented. A theoretical system analysis is provided, which includes the investigation of stability, bandwidth limitations and disturbance rejection. simulation results are provided to emphasize the high quality of the HiL simulation.

关键词： hardware-in-the-loop simulation

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Onboard Multi-Rate Tube Model Predictive Position Control for a Hexacopter: From Design to Outdoor Flight Experiments 26

Onboard Multi-Rate Tube Model Predictive Position Control fo...

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XXVI International Conference on Information, Communication and Automation Technologies (ICAT)

作者： Niermeyer, Philipp Herb, Markus Lohmann, Boris Tech Univ Munich Inst Automat Control Dept Mech Engn Boltzmannstr 15 D-85748 Garching Germany

ISBN: (纸本)9781538633373

Model Predictive Control (MPC) is a candidate solution to aggressively control a constrained plant. In Tube Model Predictive Control (TMPC), optimality is traded for robustness which is a key aspect in flight controls where the plant is subject to many disturbances and uncertainties especially related to aerodynamics and wind. Yet MPC comes with large computational effort and thus reduced execution rates of the control law which aggravates disturbance rejection. This issue can be addressed by executing optimization-based feedforward and simple feedback control at different rates. Therefore, the authors present a complete workflow for multi-rate control design, soft-and hardware implementation, testing and flight experiment conduction. First, the control laws are discussed. Next, the custom onboard control software is presented and benchmarked in a tailored hardware-in-the-loop (HIL) simulation. Finally, flight experiments demonstrate the performance of the TMPC and the ease of design, implementation and testing entailed by the presented approach.

关键词： tube model predictive control hexacopter position control optimal control robust control real-time optimization multi-rate control hardware-in-the-loop simulation flight experiments

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Embedded Drug Delivery Controller for Cancer Chemotherapy under Treatment Constrains

Embedded Drug Delivery Controller for Cancer Chemotherapy un...

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International Conference on Advanced Control Circuits Systems (ACCS) Systems / International Conference on New Paradigms in Electronics and Information Technology (PEIT)

作者： EL-Garawany, Ahmed H. Karar, Mohamed E. EL-Brawany, Mohamed A. Menoufia Univ FEE Dept Ind Elect & Control Engn Menoufia 32952 Egypt

ISBN: (纸本)9781538664070

Chemotherapy is one of the essential treatment methods for cancer patients. This paper presents a new embedded fuzzy logic control scheme of cancer chemotherapy drug delivery system. The developed controller is capable of achieving targeted drug concentrations at tumor tissues to minimize number of cancerous cells, considering therapeutic constraints;namely maximum allowed levels of both drug infusion dose and drug-dose toxicity. This study has been successfully validated using hardware-in-the-loop simulation technique, based on a mathematical model of patient chemotherapy response and Arduino Mega microcontrollers. Compared to previous studies, the results of embedded drug infusion controller showed that the smallest value of remaining cancerous cells is 8.34, the toxic level of injected drug does not exceed the maximum value of clinical constraint at 100 mg/ml/day, and the best performance index of cancer chemotherapy is 25.51 at the end of treatment time. Therefore, the embedded closed-loop controller in this study presents potentially a good upgrade option for clinical drug delivery systems to enhance the performance of intravenous cancer chemotherapy procedures.

关键词： Cancer tumor Chemotherapy Drug delivery system Fuzzy logic hardware-in-the-loop simulation

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Design and evaluation of path following controller based on MPC for autonomous vehicle 36

Design and evaluation of path following controller based on ...

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36th Chinese Control Conference (CCC)

作者： Zhou, Hongliang Guvenc, Levent Liu, Zhiyuan Harbin Inst Technol Automot Elect Engn Ctr Harbin Heilongjiang Peoples R China Ohio State Univ CAR Columbus OH 43210 USA

ISBN: (纸本)9789881563934

This paper proposes a model predictive control (MPC) for autonomous vehicle path following control. To solve the control problem, a nonlinear path following model is used, which includes 2 degree-of-freedom single track vehicle dynamics model and path following error model. The control problem is to control vehicle to run on the reference path with the heading angle along the road orientation angle. Then, a controller based on MPC method is designed, and a C-based algorithm is implemented to solve the nonlinear optimization problem in real-time. The proposed control system is tested in a hardware-in-the loop simulation platform and the robustness is tested by adding noise to lateral vehicle speed and modifying model parameters. It is testified that the control performance is satisfied in different situations.

关键词： Autonomous vehicle path following model predictive control hardware-in-the-loop simulation

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dSPACE Based HIL simulation Platform for Missile Control System 2

dSPACE Based HIL Simulation Platform for Missile Control Sys...

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2nd International Conference on Information Technology and Intelligent Transportation Systems (ITITS)

作者： Chen, Yun Ma, Qinghua Wang, Gen Miao, Haochun Northwestern Polytech Univ Coll Astronaut 127 Youyi West Rd Xian 710072 Peoples R China 203 Res Inst China Ordnance Ind Xian 710065 Shaanxi Peoples R China

ISBN: (纸本)9781614997856;9781614997849

dSPACE based hardware-in-the-loop(HIL) missile control system simulation platform with the key benefits of powerful operational capability and convenient hardware interface is provided. The system structure design and development steps were analyzed. In the platform, the compiled simulation model, established in the MATLAB/Simulink, runs on the real-time hardware platform, and the actuator as the real physical part. This platform realized the HIL design and simulation, and the simulation process is similar to the real environment. Experimental results showed that the dSPACE based real-time simulation system is an excellent platform for missile control system design which enhanced the efficiency and reliability.

关键词： Missile control system hardware-in-the-loop simulation dSPACE

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hardware-in-the-loop simulations of an electrohydraulic power steering system for developing the motor speed map of heavy commercial vehicles

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2015年第13期229卷 1717-1731页

作者： Kim, Seong Han Chu, Chong Nam Univ Michigan Dept Mech Engn Ann Arbor MI 48109 USA Seoul Natl Univ Sch Mech & Aerosp Engn Seoul 151744 South Korea

This study proposes hardware-in-the-loop simulations to develop the motor speed map of electrohydraulic power steering systems for heavy commercial vehicles. The current method that relies on the test driver's hands and feet to obtain electrohydraulic power steering motor speed maps causes a number of problems, such as inaccurate steering rates and vehicle speeds and the risk of rollover during tests. In order to overcome these weaknesses, this study employs a hardware-in-the-loop simulation system, a vehicle model, and an experimental development method. A hardware-in-the-loop simulation system was set up to simulate a steering system on the road. The system includes a system drive, data acquisition, system controller sets, and an electrohydraulic power steering system. This hardware-in-the-loop simulation system is controlled in real time because the amount of the torque from the resistant torque motor, which applies the self-aligning moments generated between the ground and the tires to the steering system, is affected by the steering angle of the steering-wheel motor. For calculation of the resistant torque with respect to various driving conditions, a vehicle model was employed in this study. It includes calculation of the self-aligning moments with the tire property data, the moments due to the kingpin inclination, the vehicle dynamics, and the steering-system modeling. The resultant values were input into the resistant torque motor. In addition to the hardware-in-the-loop simulation system and the vehicle model, the concept of a desirable steering torque which parameterizes the steering feel was introduced in this study. Using the desirable steering torque, the steering feel could be quantified, and desirable steering feels were established. In this study, in order to validate the hardware-in-the-loop simulations, a heavy commercial vehicle was designated as the target vehicle. The target vehicle's tire and specifications such as the dimensions, the weight, t

关键词： hardware-in-the-loop simulation electrohydraulic power steering power steering system vehicle modeling steering-system modeling

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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.

关键词： hardware-in-the-loop simulation

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Software and hardware Code Generation for Predictive Control Using Splitting Methods

Software and Hardware Code Generation for Predictive Control...

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Shukla, Harsh A. Khusainov, Bulat Kerrigan, Eric C. Jones, Colin N. Ecole Polytech Fed Lausanne Lab Automat Lausanne Switzerland Imperial Coll London Dept Elect & Elect Engn London SW7 2AZ England Imperial Coll London Dept Aeronaut London SW7 2AZ England

This paper presents SPLIT, a C code generation tool for Model Predictive Control (MPC) based on operator splitting methods. In contrast to existing code generation packages, SPLIT is capable of generating both software and hardware-oriented C code to allow quick prototyping of optimization algorithms on conventional CPUs and field-programmable gate arrays (FPGAs). A Matlab interface is provided for compatibility with existing commercial and open-source software packages. A numerical study compares software, hardware and heterogeneous implementations of splitting methods and investigates MPC design trade-offs. For the considered testcases the reported speedup of hardware implementations over software realizations is 3x to 11x. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Model predictive and optimization-based control hardware-software co-design Embedded computer architectures hardware-in-the-loop simulation Splitting methods

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Design of Autopilot Platform Using HILS Approach

Design of Autopilot Platform Using HILS Approach

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International Conference on Communication, Control, Computing and Electronics Engineering (ICCCCEE)

作者： Elsadig, Mohammed A. Elbakri, Mohamed A. Univ Alneelain Dept Postgrad Studies Khartoum Sudan Univ Khartoum Dept Elect & Elect Engn Khartoum Sudan

ISBN: (纸本)9781509018093

Each day comes, the sector of autopilot and Unmanned vehicles get bigger exponentially;the autopilot design process plays an essential role in the unmanned aerial vehicle (UAV) development process. Autopilot can be designed and developed using different approaches depending on the control theory which is adopted in this paper Proportional-integral-derivative (PID) is adopted. Testing of autopilot system during design process can be done using different methods such as wind tunnel which is the most accurate but also the most expensive, real fly tests may be used in verification of the autopilot but it's too risky, the third approach which is used in this paper is the hardware in the loop simulation (HILS). Matlab/Simulink in association with Aerosim blockset library were used to develop the HILS, Arduino mega board was used as the autopilot hardware due to its availability, simplicity, and cost efficient features. A PID-based autopilot was designed for UAV stability and automatic pre-defined route following, the system has been tested using HILS with acceptable performance and cost efficient approach.

关键词： Atmospheric modeling Aircraft hardware Damping Mathematical model MATLAB Algorithm design and analysis Automatic pilots Algorithm design and analysis Atmospheric models Computer hardware Aircraft MATLAB absorption of shock Mathematical Model hardware-in-the-loop simulation Control Theory drone honey bees Unmanned Aerial Vehicle design process

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Light Tracking System for Teaching Laboratory Use

Light Tracking System for Teaching Laboratory Use

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Bates, I. Maganga, O. Coventry Univ Sch Mech Aerosp & Automot Engn Coventry W Midlands England

hardware-in-the-loop simulators for teaching laboratories are a useful aid to learning. Being able to provide complex demonstrators to all members of a class can be expensive and can take up a great deal of space. In this paper the design and evaluation of a custom bench top light tracking simulator is presented. The hardware used has been chosen to be inexpensive, compact and versatile. The integration with popular control software Simulink is demonstrated although the simulator is not limited to one particular program. The simulator is designed to help students develop their understanding of control theory and their application using common place hardware. The adjustment of parameters in real time is possible as well as programming of the unit in embedded mode. The simulator can be used in system identification modelling and also in basic and advanced controller development. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Control education using laboratory equipment Tracking Embedded computer control systems and applications hardware-in-the-loop simulation Mechatronic systems

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