simulation methods play an important role in the design loop of sophisticated machine tools. In this paper we present a different type of simulation strategy, a method that integrates control hardware within a simulat...
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simulation methods play an important role in the design loop of sophisticated machine tools. In this paper we present a different type of simulation strategy, a method that integrates control hardware within a simulation model of the machine tool. For motion control software developers, the benefits are twofold: a simulation test bed becomes available before the machine is available, while the quality of the software migration process can be improved using automated regression tests.
In this paper we present a case study for those who may be considering upgrading hard-realtime simulations to RTLinuxPro. We show how to avoid pitfalls and how to benefit from lessons learned along the way. Further we...
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In this paper we present a case study for those who may be considering upgrading hard-realtime simulations to RTLinuxPro. We show how to avoid pitfalls and how to benefit from lessons learned along the way. Further we show how the volume of heritage code that we use in such HIL simulations, regardless of language, may continue to be used, even though not well-tested, therefore not well-suited to realtime operation. We show that the features of RTLinuxPro allow such code to run in user space instead of kernel space, thereby guaranteeing that code failure will not crash the kernel and will provide a trace of where the failure occurred. Since the author was tasked with upgrading a working simulation, he sought to provide the identical engineering verification tool on a new, low-cost platform running a fullfeatured OS and a fully deterministic, realtime OS (RTOS). His paper addresses his selection methodology to assure that his goals were met. To his surprise he discovered an RTOS that exceeded his design criteria, providing him the tools to simplify significantly his existing realtime design and to communicate easily in realtime with other user threads that ran in soft-realtime (e.g., visualization), even non-realtime.
This paper focuses on online control energy management strategy for a parallel hybrid architecture. The strategy is developed from the optimal control theory, using Pontryagin's Minimum Principle (PMP). The result...
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This paper focuses on online control energy management strategy for a parallel hybrid architecture. The strategy is developed from the optimal control theory, using Pontryagin's Minimum Principle (PMP). The resulting Equivalent Consumption Minimization Strategy (ECMS) is implemented in real time and tested in simulation and in an experimental environment (HyHiL test bench). In particular, the adaptation of one control parameter, playing the role of a Lagrange multiplier, is analyzed in terms of stability and effectiveness.
The paper presents the Model Based Design(MBD) method which design and verify control algorithm for safety power window. Safety power window are required to work together with the anti-pinch function and have to meet ...
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The paper presents the Model Based Design(MBD) method which design and verify control algorithm for safety power window. Safety power window are required to work together with the anti-pinch function and have to meet FMVSS118 S5 requirements and equivalent ECC requirements. To meet the requirements, this paper presents the establishment of SILS and RCP environments. The design process can reduce time and support more performance-assured design. As a result of study, it met the regulations and achieved reaction force that close to common products.
Abstract Vision-based navigation technologies are currently under development in order to support future planetary exploration missions to the Moon, Mars and small bodies. By tracking landmarks and local features on t...
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Abstract Vision-based navigation technologies are currently under development in order to support future planetary exploration missions to the Moon, Mars and small bodies. By tracking landmarks and local features on the surface of celestial bodies, these technologies will provide GPS-like spacecraft localization capabilities and enable precision orbiting and/or landing toward known targets of interest. In order to contribute to the development roadmap of these technologies, this paper will present the simulation Infrastructure for Autonomous Navigation technologies (SIAN) aiming at simulating with hardware-in-the-loop and high repeatability vision-based terrain relative navigation algorithms. This scaled simulation infrastructure aims at bridging the gap between pure software simulations and expensive helicopter or rocket-based flight tests. This paper will present the main objectives of this innovative and unique simulation infrastructure and report its conceptual and detailed design.
Scaled roller rigs are quite widespread among railway research centres, and several examples are described in the literature. Due to their low costs and ease of use compared with full-scale counterparts, these types o...
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Scaled roller rigs are quite widespread among railway research centres, and several examples are described in the literature. Due to their low costs and ease of use compared with full-scale counterparts, these types of rigs are used for a wide range of studies concerning dynamical stability, comfort, mechatronic subsystem and wear. Furthermore, scaled roller rigs can be a powerful education tool for railway engineering students. In this paper, the design and the main features of the scaled rolled rig that will be installed in the Mechatronics and Dynamic Modeling Laboratory of the University of Florence located in Pistoia, Italy, are described. The main feature of the proposed rig will be the simulation of degraded adhesion conditions. This feature is very important for hardware-in-the loop testing of many safety relevant on-board subsystems like wheel slide protection systems, traction and stability controls, odometry and automatic train protection and control.
Performances of hydraulic actuation system (HAS) affect flight quality of the flight control system (FCS) directly. To reach a high performance, HAS must be tested in hardware-in-the-loop simulation (HILS) during its ...
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ISBN:
(纸本)7506278413
Performances of hydraulic actuation system (HAS) affect flight quality of the flight control system (FCS) directly. To reach a high performance, HAS must be tested in hardware-in-the-loop simulation (HILS) during its development stage. This paper designs the actuation controller based on high-speed digital signal processor (DSP), establishes the model of HAS with the hydraulic system simulation tool DSHplus and presents the HILS scheme, designs the interface modules of hardware and software between the HAS model and outer controller. Such factors as discretization error, delay of transmission and disturbances are taken into account in the HILS scheme, which makes the simulation results more accurate and credible. By the aid of the extended CAN module of DSP controller, it is easy to adjust the parameters in real time. Experiments show that the HILS scheme is satisfying and the design of HAS is correct.
The rapid control prototyping(RCP) system that based on Simulink model and RTX real time system was *** RCP system can rapidly convert the Simulink model into the RTX real time model and realize:the automatic compilat...
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The rapid control prototyping(RCP) system that based on Simulink model and RTX real time system was *** RCP system can rapidly convert the Simulink model into the RTX real time model and realize:the automatic compilation and downloading of the Simulink model,the online modification of simulation parameters,real time storage of simulation data,automatic distribution simulation, configuration file *** simulation results,given in Fig.8 and Table 1,show preliminarily that the RCP system designed by us is not only reliable but also gives good precision.
For the development of control algorithms and functions of industrial robots, test and verification with real robot system is an essential stage, and always requires not-ignorable and time-consuming implementation pro...
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ISBN:
(纸本)9781617387197
For the development of control algorithms and functions of industrial robots, test and verification with real robot system is an essential stage, and always requires not-ignorable and time-consuming implementation process. Implementing control algorithms directly on the ready-to-sell robot system from the beginning is never productive work, because the commercial robot control system has too many restrictions to be used as a design and test platform. Especially the shortage of calculation capability, memories and I/O devices and the complexity of the software structure are major barriers of direct coding on it. Previously, we had developed the HyRoHILS (Hyundai Robot hardware In the loopsimulation) system, as a rapid control prototyping platform for the fast development of industrial robot control algorithms. This system drastically reduced the development lead-time through automatic code generation of control algorithms on the RCP(Rapid Control Prototyping) device and also through provision of the powerful test automation and real-time monitoring environment. It provided us with powerful computing capability and convenient development environments, so it enabled us to concentrate on control algorithm design and test without concerning on any other annoying stuffs related to implementation. However, the software and hardware of the previous HyRoHILS system such as trajectory planner, motor driver were different from those of real commercial robot controller. It may cause that the experimental results of the HyRoHILS system are somewhat different from those of the real robot control system. Thus for developing a reliable robot control algorithm, additional verification test with real robot controller is required. In this paper, the novel HyRoHILS system is introduced. It is composed of a host PC, a commercial robot controller including the internal DSP board, and the RCP device. To the RCP device, control algorithms and functions to be tested are downloaded from the
The Common simulation Framework (CSF) facilitates live, virtual, and constructive (L VC) simulation of a complete missile deployment system. It includes some support for real-time operation but not enough to allow har...
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ISBN:
(纸本)9780769535159
The Common simulation Framework (CSF) facilitates live, virtual, and constructive (L VC) simulation of a complete missile deployment system. It includes some support for real-time operation but not enough to allow hardware-in-the-loop (HWIL) testing. This project added real-time monitoring capabilities to CSF and demonstrated its use for a HWIL simulation. The demonstration involved driving a motion simulator table at the Redstone Technical Test Center in Huntsville, AL. Running under CSF the demonstration drove the table at an update rate of 1,200 Hz using only 3% of the processing time available for each update. The project successfully showed the effectiveness of CSF in a real-time HWIL environment.
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