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Quaternion-based attitude control design and hardware-in-the-loop simulation of suborbital modules with cold gas thrusters

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2015年第4期229卷 717-735页

作者： Mousavi, S. Fazlolah Roshanian, Jafar Emami, M. Reza KNT Univ Technol Dept Aerosp Engn Tehran Iran Univ Toronto Inst Aerosp Studies Toronto ON M3H 5T6 Canada

This paper discusses design and implementation of a quaternion-based attitude control system for the short-duration mission of suborbital modules using cold-gas thrusters. The quaternion-based controller generates a command torque for each channel, and a pulse-width pulse-frequency (PWPF) modulator determines the required fire signals for the thrusters. The system performance is examined through both numerical and hardware-in-the-loop simulations.

关键词： Suborbital module quaternion-based attitude control cold gas thruster hardware-in-the-loop simulation

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

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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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Testing flight software on the ground: Introducing the hardware-in-the-loop simulation method to the Alpha Magnetic Spectrometer on the International Space Station

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NUCLEAR INSTRUMENTS & METHODS IN PHYSICS RESEARCH SECTION A-ACCELERATORS SPECTROMETERS DETECTORS AND ASSOCIATED EQUIPMENT 2016年 815卷 83-90页

作者： Sun, Wenhao Cai, Xudong Meng, Qiao Southeast Univ Nanjing 210096 Jiangsu Peoples R China MIT 77 Massachusetts Ave Cambridge MA 02139 USA

Complex automatic protection functions are being added to the onboard software of the Alpha Magnetic Spectrometer. A hardware-in-the-loop simulation method has been introduced to overcome the difficulties of ground testing that are brought by hardware and environmental limitations. We invented a time-saving approach by reusing the flight data as the data source of the simulation system instead of mathematical models. This is easy to implement and it works efficiently. This paper presents the system framework, implementation details and some application examples. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Alpha Magnetic Spectrometer (AMS) hardware-in-the-loop simulation Embedded Software Test

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Evaluation of the control performance of hydronic radiant heating systems based on the emulation using hardware-in-the-loop simulation

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BUILDING AND ENVIRONMENT 2011年第10期46卷 2012-2022页

作者： Rhee, Kyu Nam Yeo, Myoung Souk Kim, Kwang Woo Seoul Natl Univ Coll Eng Dept Architecture Seoul 151 South Korea Seoul Natl Univ Dept Architecture Grad Sch Seoul 151 South Korea

This study presents an emulation method to evaluate the control performance of a hydronic radiant heating system. Since heat output in the system is dependent on the pressure loss and flow rate in the hydronic network, the interaction between thermal and hydronic models needs to be considered in the evaluation of the control performance. For this reason, many studies apply an integrated simulation to the evaluation;however, the analysis of the hydronic network sometimes leads to unreliable results due to the improper initial values for algebraic loops or the lack of modeling information on the hydronic components. In order to deal with this problem, this study suggests an emulation method, where the hydronic network is replaced by real hardware and the building physics is analyzed by a simulation. In the emulation, the pressure loss and flow rate in the hydronic network were represented by replacing the real pipe with equivalent hydraulic resistance. In addition, by using real control systems that connect the hydronic network and building simulation, the interaction between building physics and hydronic network could be considered in the evaluation. Based on the proposed emulation method, the performance of several control strategies was evaluated in terms of the accuracy and the rise time. The result shows that the individual control needs to be combined with hydronic balancing for more accurate control. Hydronic control devices such as a flow limit valve and a pressure differential control valve also proved to be helpful to the improvement of the control performance. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： Hydronic radiant heating system Emulator Emulation Hydronic balancing Control performance hardware-in-the-loop simulation

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A Force and Displacement Compensation Method Toward Divergence and Accuracy of hardware-in-the-loop simulation System for Manipulator Docking

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IEEE ACCESS 2018年 6卷 35091-35104页

作者： Yu, Simiao Han, Junwei Qu, Zhiyong Yang, Yu Harbin Inst Technol Inst Electrohydraul Servo Simulat & Test Syst Harbin 150001 Heilongjiang Peoples R China

The hardware-in-the-loop (HIL) simulation system for manipulator docking is an important means to simulate the flexible manipulator on-orbit docking dynamics process. However, the delay of the HIL simulation system leads to the accuracy loss and divergence problems of the system;in this paper, a force and displacement compensation method was proposed toward these problems of the manipulator docking HIL simulation system for single-mass, multi-stiffness, and multi-damping contact. First, time delays including the contact force delay and the force measurement delay were considered. The real-time on-line identification method was applied in the time-varying HIL simulation system, and the contact force delay was compensated by the identification parameters and the discrete force compensation model. The force measurement delay was compensated by a phase lead based force compensation model. The dynamic response model of the motion simulator was not required in the force compensation. In addition, the displacement phase lead compensation model was used to reduce the displacement phase delay of the motion simulator, which improved the reproduction accuracy of the HIL simulation system. Based on the simulation and experimental results, it is shown that the proposed method can effectively and satisfactorily prevent the divergence and improve the accuracy of the reproduction.

关键词： Manipulator docking hardware-in-the-loop simulation contact force delay force measurement delay displacement phase delay force and displacement compensation

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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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Development of automatic transmission control system using hardware-in-the-loop simulation system

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JSAE REVIEW 2002年第1期23卷 55-59页

作者： Hagiwara, K Terayama, S Takeda, Y Yoda, K Suzuki, S Honda Res & Dev Co Ltd Tochigi R&D Ctr Engn Dev Dept 42 Haga Tochigi 3213393 Japan Honda Res & Dev Co Ltd Tochigi R&D Ctr Engn Dev Dept 54 Haga Tochigi 3213393 Japan

A hardware-in-the-loop simulation system for the automatic transmission was developed with the availability of accelerating calculation. This development enables real-time automatic transmission shifting simulation while maintaining the required calculation accuracy. The application of this system for the development of a new automatic transmission eliminates the need for full testing with a real vehicle. This has led to a reduction in the development period. (C) 2002 Society of Automotive Engineers of Japan, Inc. and Elsevier Science B.V. All rights reserved.

关键词： simulation Systems Transmission control system Computer hardware transmission hardware-in-the-loop simulation development time AUTOMATIC computation accuracy

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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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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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