hardware-in-the-loop simulation(HWIL) is a well established technique for aiding rapid control prototyping and design. Nevertheless there has been very little attempt in the research literature to formalize the approa...
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ISBN:
(纸本)9781424409884
hardware-in-the-loop simulation(HWIL) is a well established technique for aiding rapid control prototyping and design. Nevertheless there has been very little attempt in the research literature to formalize the approach in the design of hardware-in-the-loop simulations. The purpose of this paper is to consider two port networks for modelling HWIL simulators. We demonstrate that different classess of hardware-in-the-loop simulators fit well within this theoretical framework. The work in this paper also makes a direct connection between teleoperator architectures and HWIL simulations thereby enabling the prior knowledge from a different field to be used in the future analysis and design of HWIL simulators.
This paper is on designing a multi-objective, robust parameter space steering controller for yaw stability improvement of a light commercial vehicle and its testing on a hardware-in-the-loop steering test rig. A linea...
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ISBN:
(纸本)9781424410675
This paper is on designing a multi-objective, robust parameter space steering controller for yaw stability improvement of a light commercial vehicle and its testing on a hardware-in-the-loop steering test rig. A linear single track model of the light commercial vehicle is used for controller design while its nonlinear version is used during hardware-in-the-loop simulations. The multi-objective design method used here maps D-stability, mixed sensitivity and phase margin bounds into the parameter space of chosen disturbance observer based steering controller filter parameters. The resulting controller design is tested using offline and hardware-in-the-loop simulations. A hardware-in-the-loop simulation test rig with the actual rack and pinion mechanism of the light commercial vehicle under study was built for this purpose. The steering control actuator is placed on the second pinion of the double pinion steering test system used. The hardware and geometry of the steering test rig are identical to the implementation of the steering system in the test vehicle. Unnecessary and expensive road testing is avoided with this approach as most problems are identified and solved in the hardware-in-the-loop simulation phase conducted in the laboratory where the steering subsystem and its controller exist as hardware and the rest of the vehicle being implemented exists as real time capable software. hardware-in-the-loop simulation results show the effectiveness of the controller design proposed in this paper in tracking desired steering dynamics and in rejecting yaw disturbance moments.
To satisfy the real-time requirements of some real-time distributed simulation applications, we first analysis real-time requirements from the points of view of the simulation architecture, real-time calculation, dist...
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ISBN:
(纸本)9789889867140
To satisfy the real-time requirements of some real-time distributed simulation applications, we first analysis real-time requirements from the points of view of the simulation architecture, real-time calculation, distributed data communication and real-time simulation engine. Then we propose a four-layered simulation management architecture, which consists of the non real-time layer, the weak real-time layer, the strong real-time layer and the rigid real-time layer. The simulation management and control issues such as experiment design and management, simulation database, simulation management technique, system scalability are also studied.
hardware in the loop (HIL)/Rapid Control Prototyping (RCP) is generally acknowledged to be a cost- and time-effective approach to test controllers/components/subsystems in a system context. Argonne National Laboratory...
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ISBN:
(纸本)9780780397606
hardware in the loop (HIL)/Rapid Control Prototyping (RCP) is generally acknowledged to be a cost- and time-effective approach to test controllers/components/subsystems in a system context. Argonne National Laboratory has been using HIL to evaluate the potential of a plug-in hybrid battery in a vehicle (battery HIL). Argonne has also constructed a vehicle platform on wheels to evaluate different power train components on a chassis dynamometer - the Mobile Advanced Technology Testbed (MATT). This paper describes these two HIL projects and gives some preliminary results on All Electric Range (AER) tests conducted on both HIL platforms. These results are compared to simulation results obtained from Argonne's Power train System Analysis Toolkit (PSAT).
Development of successful electronic countermeasure (ECM) techniques against target track radars is a time-consuming and expensive process. Recently, Nunez et al. reported a genetic algorithm (GA) optimization method ...
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ISBN:
(纸本)9781424414482
Development of successful electronic countermeasure (ECM) techniques against target track radars is a time-consuming and expensive process. Recently, Nunez et al. reported a genetic algorithm (GA) optimization method for ECM techniques generation;this paper outlines the current effort to implement the approach with an operational radar system and to establish a methodology for arbitrary ECM signal generation in a closed-loop system. While this effort employs GA, the method applies equally to other optmization techniques. After defining the GA fitness function for a generic range gate pull off (RGPO) technique, the ECM signal is implemented with a very fast digital arbitrary waveform generator. The RGPO signal is injected into the radar environment, and the tracking radar response is measured and scored for optimization. The method is suitable for more sophisticated ECM signals and will be studied in future work.
We address the control design problem for stabilization and tracking of Unmanned Sea Surface Vehicles (USSVs). To this end, we describe the design and implementation of a high-accuracy real-time Six Degree-of-Freedom ...
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ISBN:
(纸本)9781424409129
We address the control design problem for stabilization and tracking of Unmanned Sea Surface Vehicles (USSVs). To this end, we describe the design and implementation of a high-accuracy real-time Six Degree-of-Freedom (DOF) hardware-In-The-loop (HITL) simulation platform for use in development and evaluation of controllers for USSVs. The HITL platform incorporates a nonlinear dynamic model of the USSV, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for control of the USSV in the experimental testbed. Detailed models of hydrodynamic effects, actuators including thrusters/propellers and control surfaces, and disturbances including ocean currents, waves, and wind are included in the dynamic simulation. The fidelity of the developed HITL simulator is demonstrated through comparisons with experimental data collected from a USSV. We also propose a nonlinear backstepping-based controller for stabilization and tracking for USSVs and present closed-loop results from HITL simulation and experimental testing.
This paper presents a new hardware-in-the-loop (HIL) based simulation system for the development of electric components (e.g. battery systems, electric drives etc.) for Hybrid Electric Vehicles (HEV). This system is b...
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ISBN:
(纸本)9781605607931
This paper presents a new hardware-in-the-loop (HIL) based simulation system for the development of electric components (e.g. battery systems, electric drives etc.) for Hybrid Electric Vehicles (HEV). This system is based on a Linux real-time computer with numerous analoge/digital input and output channels and a CAN communication interface. The HEV models are implemented in Modelica using the SmartPowertrains and SmartElectricDrives libraries. The models are simulated with the Dymola simulation environment in real-time with over 2 KHz of sampling time. The simulation computer is connected to a high-voltage energy storage test bench and a high dynamic drive train test bed. As application examples a HTL simulation of a HEV with a real battery-stack and a HIL simulation of an electric motorcycle with a permanent magnet synchronous motor will be shown.
This paper is on the design of a steer-by-wire system for a light commercial vehicle. A hardware-in-the-loop simulation test rig with the actual rack and pinion mechanism of the light commercial vehicle under study wa...
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This paper describes the parallel hardwaresimulation of an adaptive control algorithm. Currently, many modern control systems are designed based on mathematical models. The developed algorithms normally work well in ...
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ISBN:
(纸本)9780889866638
This paper describes the parallel hardwaresimulation of an adaptive control algorithm. Currently, many modern control systems are designed based on mathematical models. The developed algorithms normally work well in software simulation. However, when implemented into a real-world system, some algorithms appear vulnerable to external disturbance and model imperfection. In this paper, we introduce a hardware-in-the-loop simulation. The simulation test bed, consisting of a Spartan II FPGA board and a PIC 18F452 microcontroller, is coimplemented using both hardware and software and run in a real-time environment. simulation result demonstrates the effectiveness of the real-time test bed to evaluate an ADALINE based adaptive control algorithm. Further, it can show some problems in physical implementation of the algorithm.
A new PC-based hardware-in-the-loop simulation (HILS) platform is developed for designing an automotive engine control system. The HILS equipment consists of a widely used PC and commercial off-the-shelf (COTS) I/O bo...
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A new PC-based hardware-in-the-loop simulation (HILS) platform is developed for designing an automotive engine control system. The HILS equipment consists of a widely used PC and commercial off-the-shelf (COTS) I/O boards instead of a powerful computing system and custom-made I/O boards. These features make the HILS equipment more cost effective and flexible. The HILS uses an automatic code generation extension, REAL-TIME WORKSHOP(R) of the MATLAB((R)) tool-chain, which is one of the standard tools for modelling and off-line simulation in the area of controller design. This helps the control system developers to handle the controlled-object model more easily and to test the control system more comfortably and time effectively. The mean value engine model, which is used in the control design phase, is imported in this HILS. The engine model is supplemented with some I/O subsystems and I/O boards to interface actual input and output signals in real time. The I/O subsystems are designed to synchronize the status of the engine model with the control system as well as to convert the raw data of the I/O boards to the appropriate forms for proper interfaces. To prove the feasibilities of the proposed environment, a pilot project for the development of an air-to-fuel ratio control system is carried out. The HILS environment is proved to be an efficient tool to develop various control functions and to validate the software and hardware of the engine control system.
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