An approach to streamline the hardware-In-the-loop (HWIL) simulation development process is under evaluation. With increased microprocessor speed, FPGA capacity and increased bus bandwidth over the last decade, a comm...
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ISBN:
(纸本)9781617385872
An approach to streamline the hardware-In-the-loop (HWIL) simulation development process is under evaluation. With increased microprocessor speed, FPGA capacity and increased bus bandwidth over the last decade, a common interface design may be able to support a large number of HWIL interfaces that were previously custom designed interfaces. The Common HWIL approach will attempt to provide a more flexible, scalable system. The overall goal of the Common HWIL system will be to reduce cost by minimizing redundant development and operational labor and equipment expenses. This paper will present current results and future plans of the development.
Precision of positioning and operation are enormously affected by vibration while flexible manipulator is running. Great attention has been paid on the research on vibration control of flexible manipulator. Howeve...
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Precision of positioning and operation are enormously affected by vibration while flexible manipulator is running. Great attention has been paid on the research on vibration control of flexible manipulator. However, there is shortage of effective and uniform real-time simulation platform to date. Based on the study of coupled modeling and dynamic characteristics, the two-link flexible manipulator system made of piezoelectric smart structure was established. The manipulator’s motion was controlled by single-chip computer system and serial communication module provided by simulink. The date exchange between manipulator system and the MATLAB workspace was implemented by the data acquisition module, which combined physical system with virtual environment. So the real-time simulation system for vibration control of flexible manipulator was set up. Adopted the PID control algorithm, the entire experimental system was debugged. The results showed that the system can work normally, and the PID control algorithm can also effectively suppress the vibration of flexible manipulator. The platform can be used for vibration control experimental research and the actual system.
This paper presents a new method for the design and validation of advanced driver assistance systems (ADASs). With vehicle hardware-in-the-loop (VeHIL) simulations the development process, and more specifically the va...
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This paper presents a new method for the design and validation of advanced driver assistance systems (ADASs). With vehicle hardware-in-the-loop (VeHIL) simulations the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and more manageable. In the VeHIL laboratory a full-scale ADAS-equipped vehicle is set up in a hardware-in-the-loop simulation environment, where a chassis dynamometer is used to emulate the road interaction and where robot vehicles are used to represent other traffic. In this controlled environment the performance and dependability of an ADAS is tested to great accuracy and reliability. The working principle and the added value of VeHIL are demonstrated with test results of a driver information and warning system. Based on the 'V' diagram, the position of VeHIL in the development process of ADASs is illustrated. (C) 2009 Elsevier Ltd. All rights reserved.
The determination of aircraft stability and control derivatives from wind-tunnel and computational fluid dynamics data can be an expensive and time-consuming procedure. This case study shows how linear system identifi...
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The determination of aircraft stability and control derivatives from wind-tunnel and computational fluid dynamics data can be an expensive and time-consuming procedure. This case study shows how linear system identification techniques can be used to obtain this information with sufficient accuracy to design a satisfactory flight control system for an aerial target of the Royal Thai Air Force. Just one flight was undertaken, using a racetrack manoeuvre, to provide the data for identification and validation. The system parameters were identified and a flight control system was designed. hardware-in-the-loop simulation was used to perform initial tests on the controller and to test the control system hardware and software. A second flight was performed to test the resulting controller, and a satisfactory performance was obtained without the need to adjust the controller gains.
simulation methods play an important role in the design loop of sophisticatedmachine tools. In this paper we present a different type of simulation strategy, a method thatintegrates control hardware within a simulatio...
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simulation methods play an important role in the design loop of sophisticatedmachine tools. In this paper we present a different type of simulation strategy, a method thatintegrates control hardware within a simulation model of the machine tool. For motion controlsoftware developers, the benefits are twofold: a simulation test bed becomes available before themachine is available, while the quality of the software migration process can be improved usingautomated regression tests.
In this research, a piezoelectric-hydraulic PUMP (PHP) actuator is synthesized for an automatic transmission (AT) test bed to demonstrate its potentials as a controllable power-by-wire actuator. This research expands ...
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In this research, a piezoelectric-hydraulic PUMP (PHP) actuator is synthesized for an automatic transmission (AT) test bed to demonstrate its potentials as a controllable power-by-wire actuator. This research expands from the previous investigations by enhancing the control performance of the PHP actuator developed for AT and bringing the study to the system level. Actuation force-tracking control using all on-site force transducer is proposed and a fill volume control strategy utilizing the AT turbine acceleration information is explored. The system level evaluation of shift performance is performed to demonstrate the effectiveness of the proposed enhancements through a hardware-in-the-loop simulation environment.
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.
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.
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.
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