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μ-Synthesis and hardware-in-the-loop simulation of Miniature Helicopter Control System

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2014年第2期76卷 315-351页

作者： Mollov, L. Kralev, J. Slavov, T. Petkov, P. Tech Univ Sofia Dept Syst & Control Sofia 1000 Bulgaria

The aim of this paper is to describe in detail the mu-synthesis of a miniature helicopter integral attitude controller of high order and to present results from the hardware-in-the-loop simulation of this controller implementing Digital Signal Processor. The mu-controller designed allows to suppress efficiently wind disturbances in the presence of 25 % input multiplicative uncertainty. A simple position controller is added to ensure tracking of the desired trajectory in 3D space. The results from hardware-in-the-loop simulation are close to the results from double-precision simulation of helicopter control system in Simulink(A (R)). The software platform developed allows to implement easily different sensors, servoactuators and control laws and to investigate the closed-loop system behavior in presence of different disturbances and parameter variations.

关键词： Miniature helicopter control mu-synthesis hardware-in-the-loop simulation Digital signal controller

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hardware-in-the-loop simulation for the Design and Testing of Engine-Control Systems

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IFAC Proceedings Volumes 1998年第4期31卷 1-10页

作者： R. Isermann J. Schaffnit S. Sinsel Institute of Automatic Control Laboratory of Control Engineering and Process Automation Technical University of Darmstadt Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

For the design, implementation and testing of control systems increasingly hardware-in-the-loop (HIL) simulation is required, where parts of the control loop components are real hardware and parts are simulated. Usually, the process is simulated because it is not available (simultaneous engineering), or experiments with the real process are too costly or require too much time. The sensors and actuators may be simulated or real and the controller is real hardware and software. The real-time requirements for the simulation depends on the time scale of the process and the simulated components. The contribution gives first an overview of the various kinds of real-time and HIL simulation. Then, two cases are considered. First the HIL simulation for relatively slow processes, like in basic industries or heating systems. Here, the simulation-speed may be limited either by the complexity of the processes or by the real controller hardware. Then, the HIL simulation of combustion engines both with transputers and digital signal processors is shown in detail. The required models for 6- and 8-cylinder diesel engines are described, including fuel injection and burning, pressure development, torque generation at the crankshaft, exhaust turbocharger dynamics and the vehicle dynamics. The HIL-simulator test bench consísts of a real-time computer system, sensor-interface, actuator interface, real injection pumps and the real control unit. Comparisons of real-time simulation with measurements on real diesel engines and trucks are shown. The goal of the HIL system is to develop new control algorithms and to investigate the effect of faults in sensors and actuators and the engine itself.

关键词： real-time simulation hardware-in-the-loop simulation diesel engine turbocharger vehicle dynamics transputers digital signal processors simulator testbench

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Yaw stability control of single-trailer truck using steerable wheel at middle axle: hardware-in-the-loop simulation

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INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL 2022年第6期10卷 2072-2094页

作者： Yussof, Muhamad Afiq Mohd Amer, Noor Hafizah Abd Kadir, Zulkiffli Hudha, Khisbullah Rahmat, Mohd Sabirin Harun, Mohamad Hafiz Univ Pertahanan Nas Malaysia Fac Engn Kuala Lumpur 57000 Malaysia

A single-trailer truck has several advantages in transportation due to its simple loading and unloading process as well as its ability to transport a large and heavy load with low delivery cost. Despite more advantages in transportation, this vehicle often involved in road accident caused by reasons such as skidding, jack-knifing, trailer swing and trailer oscillation due to the unwanted yaw and lateral motions while manoeuvring. This elevates much concerns on the stability of the single-trailer truck vehicle, especially while travelling at high speed. This study proposed a yaw rejection control of single-trailer truck using a steerable wheel located at the middle axle of the truck. This study covers the development and verification of 15-DOF model of single-trailer truck to simulate vehicle responses in longitudinal plane. Then, yaw rejection controller is developed and examined using two conditions of manoeuvrings, namely single and double lane change tests. The yaw rejection controller results managed to reduce up to 34.66% lateral acceleration and 22.92% yaw rate compared to the passive vehicle configuration. Lastly, the yaw rejection controller was implemented on a small-scale prototype of single-trailer truck vehicle system using hardware-in-the-loop simulation. The HIL simulation results showed that the yaw rejection controller managed to stabilise the vehicle during manoeuvring with realistic steering wheel actions deliverable by the actuator.

关键词： Single-trailer truck vehicle Yaw stability control Steerable wheel hardware-in-the-loop simulation

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Predicting regenerative chatter in milling with hardware-in-the-loop simulation using a dexel-based cutting model

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PRODUCTION ENGINEERING-RESEARCH AND DEVELOPMENT 2021年第5期15卷 605-617页

作者： Roeck, Sascha Univ Appl Sci Esslingen Virtual Automat Lab VAL Fac Mech Engn Kanalstr 33 D-73728 Esslingen Germany

This article proposes a new model for simulating the interaction between cutting process and machine tool in real-time. The purpose of the model is to be coupled with a real CNC (by using hardware-in-the-loop simulation) in order to consider process forces and to predict regenerative chatter vibrations during virtual commissioning. Therefore a dexel-based workpiece model with adaptive resolution is used for the computation of the chip thickness respectively the cutting forces based on the actual machine tool position and the machining progress on the workpiece. Several simulation experiments are performed to validate the model and to analyze its numerical limits, such as computational accuracy and efficiency. The capability of the model to predict chatter is proven by comparing the simulated critical depth of cut with an analytical solution of the stability lobes. Therefore the dynamics of the machine tool were approximated as a single degree of freedom (SDOF) oscillator. A concluding analysis of the real-time factor confirms the model's ability to be integrated under hard real-time requirements and with cycle times of just a few milliseconds which are typical of CNCs.

关键词： Machine tool Milling simulation hardware-in-the-loop simulation Chatter prediction

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Architecture of a platform for hardware-in-the-loop simulation of flying vehicle control systems

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OPTOELECTRONICS INSTRUMENTATION AND DATA PROCESSING 2017年第4期53卷 345-350页

作者： Belokon', S. A. Zolotukhin, Yu. N. Filippov, M. N. Russian Acad Sci Siberian Branch Inst Automat & Electrometry Pr Akad Koptyuga 1 Novosibirsk 630090 Russia

A hardware-software platform is presented, which is designed for the development and hardware-in-the-loop simulation of flying vehicle control systems. This platform ensures the construction of the mathematical model of the plant, development of algorithms and software for onboard radioelectronic equipment and ground control station, and visualization of the three-dimensional model of the vehicle and external environment of the cockpit in the simulator training mode.

关键词： hardware-in-the-loop simulation mathematical modeling dynamically scaled free-flight models navigation equipment ground control station

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Hybrid models for hardware-in-the-loop simulation of hydraulic systems - Part 1: theory

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2004年第I6期218卷 465-474页

作者： Ferreira, JA Almeida, FG Quintas, MR de Oliveira, JPE Univ Aveiro Dept Mech Engn P-3810 Aveiro Portugal Univ Porto Polo FEUP IDMEC P-4100 Oporto Portugal Univ Aveiro IEETA Dept Elect Engn P-3800 Aveiro Portugal

Physical modelling of hydraulic systems results in systems of differential and algebraic equations (DAEs) that are normally stiff. This is because they often include multiple temporal scales and present complex and non-linear behaviour. The simulation of these stiff DAEs in real time demands small time steps, in order to achieve algorithm stability, because explicit fixed step solvers are usually applied. Modelling some fast dynamics as instantaneous changes in order to reduce the model's stiffness has been an area of research in the last few years. The description of the dynamic behaviour as piecewise continuous modes, interspersed with discrete transitions, together with the reduction in the model complexity, facilitates the use of fixed time step integration methods and thus allows real-time simulation. The main goal of this work was to obtain not too complex models in order to allow the models to be used in hardware-in-the-loop experiments. This paper proposes the use of the statecharts formalism to describe hybrid behaviour in hydraulic systems and presents semiempirical models of a valve controlled hydraulic cylinder intended to test real controller performance on a hardware-in-the-loop setup. These semiempirical models require less computing power, and it is easier to adjust the model parameters.

关键词： fluid power modelling real-time simulation hardware-in-the-loop simulation

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hardware-in-the-loop simulation platform of the strip tension control in the continuous annealing process

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ICIC Express Letters 2010年第6 A期4卷 2159-2164页

作者： Bai, Rui Tong, Shaocheng School of Electrical Engineering Liaoning University of Technology Jinzhou China

In the continuous annealing process, strip tension is an important factorthat affects the strip quality. In order to obtain the satisfactory performance of the tension control, it is necessary to implement the simulation experiments of various tension control methods. The existing simulation system usually is developed only using the Matlab language, and is built on the PC. So, it can not simulate the actual industrial environments with the very satisfactory simulation performance. A hardware-in-the-loop simulation platform of the strip tension control is developed here with the view of engineering. The simulation platform consists of the virtual strip tension sub-platform, the virtual instruments and actuators sub-platform, and the tension control and process monitoring sub-platform. This hardware-in-the-loop simulation platform is very similar to the actual industrial environments. PLC and control software are adopted in the tension control and process monitoring sub-platform, and the signals being exchanged between these three sub-platforms are the standard industrial process signals. This simulation platform provides an appropriate, reliable and intuitive engineering experiment environment for the research of strip tension control. ICIC International © 2010 ISSN 1881-803X.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation for a Multiaxial Suspension Test Rig with a Nonlinear Spatial Vehicle Dynamics Model

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IFAC-PapersOnLine 2019年第15期52卷 109-114页

作者： P. Traphöner S. Olma A. Kohlstedt N. Fast K.-P. Jäker A. Trächtler Heinz Nixdorf Institute Paderborn University Fürstenallee 11 33102 Paderborn Germany

hardware-in-the-loop (HiL) simulations where a mechatronic system is used as the device under test (DUT), are established in the automotive sector for the design of active suspension components, e.g. roll-stabilizers. Usually, uniaxial actuator systems within the test rig are applied for the excitation of the DUT. However, in the context of mechatronic suspension systems incorporating multiple mechatronic subsystems, more sophisticated HiL test rigs / simulations with multiaxial excitation of the DUT are necessary. This contribution presents the model-based design of a HiL simulation for a multiaxial vehicle axle test rig. Within the HiL simulation a nonlinear spatial vehicle dynamics model with 36 states is used to reproduce the environment of the DUT in real-time. The implemented model and its requirements are described in detail. An appropriate HiL control framework is developed, which combines the vehicle dynamics model with the hybrid motion/force control of the manipulator systems. The primary actuator is a hydraulic hexapod. simulation results and measurements obtained with the HiL system show the effectiveness of this approach. The potential for chassis control validation and design is highlighted in comparison to a highly detailed benchmark vehicle dynamics model.

关键词： hardware-in-the-loop simulation Vehicle axle test rig Efficient vehicle dynamics modeling Hybrid force position control design

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hardware-in-the-loop simulation and testing of volts per hertz protection scheme for a generator over-excitation system

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International Journal of Power and Energy Conversion 2024年第2期15卷 147-165页

作者： Rathogwa, Khangwelo Loyd Krishnamurthy, 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 system stability. Consequently, it has recently become necessary to consider upgrading the existing generator protective devices due to increased power demand and ageing infrastructure. This study proposes an approach for system protection during generator over-excitation condition that occurs when the magnetic core of the generator is saturated. When this occurs, stray flux is induced in non-laminated components, resulting in overheating of the generator. The key aspects considered in this study were the over-excitation circumstances that affect generators and their protection mechanisms. This research work developed a logic diagram for volts per hertz protection relay to prevent over-excitation conditions in a generator. The hardware in the loop test bed is implemented to test the volts per hertz protection schemes. The hardware-in-the-loop (HIL) test-bed was implemented using real-time digital simulator (RTDS) and SEL 700G IED. simulation results proved that a SEL700G volt per hertz protection function (24) is reliable for overexcited generators. © 2024 Inderscience Publishers. All rights reserved.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation of automatic steering control for Double Lane Change and sine steer manoeuvres

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International Journal of Vehicle Autonomous Systems 2012年第1-2期10卷 67-104页

作者： Ping, Em Poh Hudha, Khisbullah Jamaluddin, Hishamuddin Faculty of Engineering and Technology Multimedia University Jalan Ayer Keroh Lama Bukit Beruang 75450 Melaka Malaysia Department of Mechanical Enginerring Faculty of Engineering University of Widyagama Malang Jl. Borobudur 35 Malang Jawa Timur - 65128 Indonesia 81310 UTM Skudai Johor Malaysia

This paper presents a 9-Degree of Freedom (DOF) vehicle model combined with a closed loop driver model for developing vehicle lateral control. The driver model was developed to control the steering angle and uses predefined path as a reference for the control input. The outer-loop and inner-loop controllers were evaluated by simulation using ISO Double Lane Change (DLC) and sine steer manoeuvres. Both of the controller's Software-In-The-loop simulations (SILS) were validated through the hardware-in-the-loop simulation (HILS). The SILS and HILS results show that the proposed driver model is capable of improving lateral path deviation error and lateral path manoeuvres significantly. Copyright © 2012 Inderscience Enterprises Ltd.

关键词： hardware-in-the-loop simulation

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