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33rd Chinese Control Conference (CCC)

作者： Wang Kaipeng Meng Zhijun Chen Xuzhi Beihang Univ Sch Aeronaut Sci & Engn Beijing 100191 Peoples R China

ISBN: (纸本)9781479947249

In order to test the hardware and software system of a small-scale unmanned helicopter, a hardware-in-the-loop simulation system is designed and realized. This simulation system is based on VxWorks embedded operation system, with the dynamic model for the model helicopter to simulate the fight. With the Futaba remote control (RC) equipments and the pulse width modulation (PWM) wave collecting and sending module, we can do test on all the three kind of control mode: remote control by pilot;semi-automatic control by pilot;automatic fly, and the changing-over. With the ground control station, we can do simulation on flight missions and subjects. So we can have a test on all the hardware and software of almost by the simulation system.

关键词： Unmanned Helicopter hardware-in-the-loop simulation Dynamic Model for the Model Helicopter

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hardware-in-the-loop simulation of an extended non-linear dynamic inversion augmented with an immunity-based adaptive control system

Hardware-in-the-Loop simulation of an extended non-linear dy...

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AIAA Modeling and simulation Technologies (MST) Conference

作者： Lyons, Brendon Moncayo, Hever Noriega, Alfonso Moguel, Israel Perhinschi, Mario G. DB-Flight Research Center Embry-Riddle Aeronautical University Daytona Beach FL 32114 United States Department of Aerospace Engineering Embry-Riddle Aeronautical University Daytona Beach FL 32114 United States Department Mechanical and Aerospace Engineering West Virginia University Morgantown WV 26506 United States

This paper presents hardware-in-the-loop (HIL) simulation results of a novel configuration for guidance and tracking control laws for unmanned air vehicles (UAV). The proposed adaptive system is based on an extended non-linear dynamic inversion (NLDI) approach augmented with an artificial immune system mechanism that relies on a direct compensation inspired primarily by the biological immune system response. The implementation of the control laws is illustrated through HIL simulation using a mathematical model of an UAV research platform developed at Embry-Riddle Aeronautical University (ERAU) to support the design, testing and validation of bio-inspired fault tolerant adaptive control algorithms. The main objective of the control laws is to minimize forward, lateral, and vertical distances with respect to a desired trajectory, and maintain stability and adequate performance in the presence of sub-system failures. The performance of the control laws is evaluated during autonomous flight in terms of trajectory tracking errors, real-time execution on board the flight computer, and control activity at nominal and abnormal conditions. The results obtained with the ERAU-UAV HIL environment show that for all cases investigated the extended NLDI approach augmented with the immunity-based mechanism has desirable fault tolerant capabilities and is reliable for in-flight testing operation as a next step towards the validation and verification of this adaptive configuration.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation of an attitude control with switching actuators for SUAV

Hardware-in-the-loop simulation of an attitude control with ...

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2013 International Conference on Unmanned Aircraft Systems, ICUAS 2013

作者： Bittar, Adriano De Oliveira, Neusa Maria Franco Instituto Tecnológico de Aeronáutica São José dos Campos Brazil Avibras Indústria Aeroespacial S˜o José dos Campos Brazil

ISBN: (纸本)9781479908172

The attitude control law for fixed-wing small unmanned aircraft proposed in this paper is constructed based on two phases of a flight: stable flight and maneuvering flight. In the maneuvering flight, the aircraft deflects the main control surfaces (ailerons and elevator), whereas on the stable flight only the trim tabs are deflected. The switch between the two flights is done when the aircraft enters a zone in which the difference between the aircraft's attitude and the reference value that the airplane needs to reach is less than a predetermined value. The control laws are implemented on an on-board computer and are validated though hardware-In-the-loop (HIL) simulations, between the hardware and the flight simulator X-Plane, which simulates the unmanned aircraft dynamics, sensors, and actuators. The results presented prove that this implementation can reduce the rise time and the overshoot, compared with traditional implementations. © 2013 IEEE.

关键词： hardware-in-the-loop simulation

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Power hardware-in-the-loop simulation of Integrated Voltage Regulation and Islanding Detection for Distributed PV Systems on GRU Model

Power Hardware-in-the-loop Simulation of Integrated Voltage ...

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IEEE Energy Conversion Congress and Exposition

作者： Ran Mo Ye Yang Hui Li Center for Advanced Power Systems Florida State University Tallahassee USA

ISBN: (纸本)9781479957774

Due to its specific advantages on combining software simulations and hardware tests, power hardware-in-the-loop (PHIL) simulation is widely applied in power electronics and power system fields. In this paper, PHIL technology and the Gainesville Regional Utilities (GRU) model are employed to investigate the performance of distributed PV systems with integrated control features. The features including voltage regulation and islanding detection are accomplished by a developed unified controller. One PV inverter hardware prototype is connected to real time digital simulator (RTDS) which runs the GRU model. Under voltage violation and unintentional islanding scenarios, the inverter performance is tested and the interactions among multiple PV systems in the real utility model are explored.

关键词： Voltage regulation hardware Test hardware-in-the-loop simulation Power electronics Inventors Computer hardware INTEGRATED SHIP CONTROL

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A Primer on Building a hardware in the loop simulation and Validation for a 6X4 Tractor Trailer Model

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SAE INTERNATIONAL JOURNAL OF COMMERCIAL VEHICLES 2014年第1期7卷 8-18页

作者： Ashby, Ryan M. Jeong, Jong Yun Rao, Shreesha Y. Heydinger, Gary J. Guenther, Dennis A. Ohio State Univ Columbus OH 43210 USA Hyundai Motor Co Seoul South Korea

This research was to model a 6x4 tractor-trailer rig using TruckSim and simulate severe braking maneuvers with hardware in the loop and software in the loop simulations. For the hardware in the loop simulation (HIL), the tractor model was integrated with a 4s4m anti-lock braking system (ABS) and straight line braking tests were conducted. In developing the model, over 100 vehicle parameters were acquired from a real production tractor and entered into TruckSim. For the HIL simulation, the hardware consisted of a 4s4m ABS braking system with six brake chambers, four modulators, a treadle and an electronic control unit (ECU). A dSPACE simulator was used as the " interface" between the TruckSim computer model and the hardware.

关键词： hardware-in-the-loop simulation TRACTOR trailer combinations ANTILOCK brake systems in automobiles BRAKE testing ELECTRONIC control COMPUTER control systems of automobile engines AUTOMOBILE transmission

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hardware-in-the-loop Real-Time simulation Platform Design for Electric Rail Traction System 4th

Hardware-in-the-Loop Real-Time Simulation Platform Design fo...

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4th International Conference on Electrical and Information Technologies for Rail Transportation, EITRT 2019

作者： Zhao, Zhen Liu, Jialu Zhao, Leiting Liu, Weizhi Locomotive & Car Research Institute China Academy of Railway Sciences Corporation Limited Haidian Beijing China Beijing Zongheng Electro-Mechanical Technology Co. Ltd. Haidian Beijing China

ISBN: (纸本)9789811528613

Due to the complex structure, nonlinear and time-varying characteristics of the train traction drive system, the product development cycle is long and the design verification is difficult. In order to reduce the difficulty of development and debugging and improve the efficiency of product development, this paper designed a hardware-in-the-loop real-time simulation platform suitable for the simulation test of electric rail traction system, which based on HiGale hardware-in-the-loop (HIL) simulation platform. It provides a perfect software and hardware platform for product field verification, fault reproduction and regression test, and a convenient environment for product software and hardware pre-research and development. © Springer Nature Singapore Pte Ltd. 2020.

关键词： hardware-in-the-loop simulation

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A holistic concurrent design approach to robotics using hardware-in-the-loop simulation

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MECHATRONICS 2013年第3期23卷 335-345页

作者： Chhabra, Robin Emami, M. Reza Univ Toronto Inst Aerosp Studies Toronto ON M3H 5T6 Canada

This paper discusses a practical approach to the concurrent design of robot manipulators, which is based on an alternative design methodology, namely Holistic Concurrent Design (HCD), as well as the utilization of a modular hardware-in-the-loop simulation. Holistic concurrent design is a systematic design methodology for mechatronic systems that formalizes subjective notions of design, resulting in the simplification of the multi-objective constrained optimization process. Its premise is to enhance the communication between designers with various backgrounds and customers, and to consider numerous design variables with different natures concurrently. The methodology redefines the ultimate goal of design based on the qualitative notion of satisfaction, and formalizes the effect of designer's subjective attitude in the process. The hardware-in-the-loop platform involves physical joint modules and the control unit of a manipulator in addition to the software simulation to reduce modeling complexities and to take into account physical phenomena that are hard to be captured mathematically. This platform is implemented in the HCD design architecture to reliably evaluate the design attributes and performance supercriterion during the design process. The resulting architecture is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Concurrent design hardware-in-the-loop simulation Robot manipulator Multidisciplinary systems Mechatronics

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Cell-BMS validation with a hardware-in-the-loop simulation of lithium-ion battery cells for electric vehicles

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2013年第1期52卷 174-184页

作者： Dai, Haifeng Zhang, Xiaolong Wei, Xuezhe Sun, Zechang Wang, Jiayuan Hu, Feng Tongji Univ Natl Fuel Cell Vehicle & Powertrain Syst Res & En Shanghai 201804 Peoples R China Tongji Univ Sch Automot Studies Shanghai 201804 Peoples R China

Battery management system (BMS) plays a critical role in the development of hybrid electric vehicles (HEVs), plug-in hybrid vehicles (PHEVs) and battery electric vehicles (BEVs). The cell-BMS is the lower-level part of the BMS, which generally takes care of the individual cells directly, with functions mainly including voltage detection and cell balancing. In this paper, a configurable battery cell emulating system is developed to implement the hardware-in-the-loop (HIL) validation of the cell-BMS. The battery cell dynamics is simulated with a parameter-configurable equivalent circuit model consisting of three resistors, two capacitors and a SOC-controlled voltage source. The HIL system emulates battery cell dynamics to validate the function of voltage monitoring. With the bi-directional and power-amplified outputs, the system can also evaluate the performance of both active and passive cell balancing module. Meanwhile the emulated cells can be connected in series, and can be adapted to simulate some faults, e.g., over-charge and over-discharge as well. Initial testing cases using a cell-BMS prototype for the LiMnO2 based battery cells show a good performance of the system. The system standardizes function validation of the cell-BMS before the design finalization and thereby accelerates the BMS development and reduces the development costs. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Cell battery management system Equivalent circuit model hardware-in-the-loop simulation Electric vehicles Lithium-ion battery

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hardware-in-loop Real-Time simulation for Battery Energy Power Conversion System Based on RT-LAB

Hardware-in-Loop Real-Time Simulation for Battery Energy Pow...

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International Conference on Power System Technology (POWERCON)

作者： Yongqi Li Youjie Shi Zhenkai Hu Bo Lei Wenming Gong Yue Wu China Southern Power Grid Power Generation Co. Ltd. Guangzhou China State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid Guangzhou China

ISBN: (纸本)9781665407380

For a large-capacity Battery Energy Storage System (BESS), the hardware-in-loop (HIL) simulation can verify the reliability of complex Control & Protection (C&P) device, and test the Power Conversion System (PCS) operation performance under severe power grid conditions, after the system design and components assembly. HIL can dramatically decrease on-site commissioning workload, and save operation and maintenance costs. In this paper, the typical PCS circuit and control strategy are analyzed firstly. Then, for the PCS with high switching frequency, a precise modeling and simulation method is proposed and studied based on FPGA with electric hardware Solver (eHS) technology. Besides, a PCS HIL simulation platform is established based on PCS C&P device of a practical BESS product and RT-LAB simulator. Finally, the C&P strategy and PCS performance are tested and verified on this platform.

关键词： Performance evaluation hardware-in-the-loop simulation Real-time systems hardware Batteries Power conversion Integrated circuit modeling

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Anytime System Level Verification via Random Exhaustive hardware In The loop simulation 17

Anytime System Level Verification via Random Exhaustive Hard...

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17th Euromicro Conference on Digital System Design (DSD)

作者： Mancini, Toni Mari, Federico Massini, Annalisa Melatti, Igor Tronci, Enrico Univ Roma La Sapienza Dept Comp Sci Rome Italy

ISBN: (纸本)9781479957934

We present a parallel random exhaustive hardware In the loop simulation based model checker for hybrid systems that, by simulating all operational scenarios exactly once in a uniform random order, is able to provide, at any time during the verification process, an upper bound to the probability that the System Under Verification exhibits an error in a yet-to-be-simulated scenario (Omission Probability). We show effectiveness of the proposed approach by presenting experimental results on System Level Formal Verification of the Fuel Control System example in the Simulink distribution. To the best of our knowledge, no previously published model checker can exhaustively verify hybrid systems of such a size and provide at any time an upper bound to the Omission Probability.

关键词： Computational modeling Control systems Generators hardware Monitoring Software packages Upper bound Omission probability System Level Formal Verification hardware-in-the-loop simulation Upper bound Software packages control systems Computational modeling dynamos Computer hardware system level hybrid systems Verification

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