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A Force- and Position-Based Distortion Compensation Method for a hardware-in-the-loop Simulator of Space Docking

JOURNAL OF AEROSPACE ENGINEERING 2024年第3期37卷 04024004-04024004页

作者： Qi, Chenkun Li, Dongjin Hu, Yan Zheng, Yi Hu, Chengwei Wang, Youyu Gao, Feng ShanghaiJiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Dept Automat Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China China Acad Space Technol Beijing Inst Spacecraft Syst Engn Beijing 100094 Peoples R China

hardware-in-the-loop simulation is an important way to test the complex contact process of two spacecraft docking in space. hardware-in-the-loop simulations are known to be unstable and divergent because of various unexpected dynamics, including delays in the system. Existing force compensators for the force-sensing delay, dynamic response delay, and structural deformation of the upper and lower platforms require real-time identification of the contact parameters of the docking mechanisms (DMs), which is difficult because of the unknown contact model structure. However, the existing force- and position-based compensation methods do not consider the structural deformation of the upper platform. In this study, a force- and position-based compensation method is proposed to compensate for the force-sensing delay, actuation-response delay, and structural dynamic position error of the lower and upper platforms. It is not necessary to identify the contact parameters of the DMs. Many verifications by software and experiments show that by using the proposed method, a stable simulation with satisfactory accuracy can be achieved under different simulation conditions. Capture experiments on a space manipulator are provided to demonstrate the applications.

关键词： Space docking Space capture Contact simulation hardware-in-the-loop simulation Time delay

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Evaluation of a new intelligent speed advisory system using hardware-in-the-loop simulation

Evaluation of a new intelligent speed advisory system using ...

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2nd International Conference on Connected Vehicles and Expo (ICCVE)

作者： Ordonez-Hurtado, Rodrigo H. Griggs, Wynita M. Massow, Kay Shorten, Robert N. Natl Univ Ireland Maynooth Hamilton Inst Maynooth Kildare Ireland Fraunhofer FOKUS Berlin Germany IBM Res Ireland Dublin Ireland

In this paper we present a recently developed speed advisory system for ITS applications. A real vehicle embedded in a large scale SUMO simulation is used to demonstrate the efficacy of such a system.

ISBN: (纸本)9781479924912

关键词： hardware-in-the-loop simulation Computer hardware speed Intelligent Tutoring Systems Intelligent transportation systems

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hardware in the loop Protection Scheme of Compensated Transmission Lines With a Unified Power Flow Controller

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IEEE ACCESS 2024年 12卷 59901-59908页

作者： Rodriguez-Herrejon, Javier Reyes-Archundia, Enrique Gutierrez-Gnecchi, Jose A. Chavez-Baez, Marco Vinicio Mendez-Patino, Arturo Inst Tecnol Morelia Div Postgrad Studies Morelia 58000 Mexico

This paper presents a hardware in the loop simulation for the detection, classification, and location of faults in transmission lines with Unified Power Flow Controller compensation. hardware devices are proposed to demonstrate that the traveling wave concept for fault location in a hardware in the loop simulation is possible and replicable under laboratory conditions. The devices used are a MacBook Air M1 2020 computer to get the SIMULINK values from the local end of the transmission line, two FeelElec FY8300S generators to import the simulation data, then they send the signals to an AT91SAM3X8E microcontroller to perform the fault detection, when the cycle of the signals where the fault is obtained, they are sent to the UDOO BOLT v8 device to get the classification and location of the fault. The results obtained indicate that the error for estimating the fault distance is less than 0.71% of the total line length, and the classification efficiency is 94.18%.

关键词： Power transmission lines hardware Voltage hardware-in-the-loop simulation Software packages Real-time systems Generators Traveling wave tubes HIL transmission lines traveling waves UPFC Simulink model

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Real-Time hardware-in-the-loop simulation of Convertible Static Transmission Controller for Transmission Grid Management

Real-Time Hardware-in-the-Loop Simulation of Convertible Sta...

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IEEE 14th Workshop on Control and Modeling for Power Electronics (COMPEL)

作者： Yousefpoor, Nima Azidehak, Ali Bhattacharya, Subhashish Parkhideh, Babak Celanovic, Ivan Genic, Adrien N Carolina State Univ ECE Dept Raleigh NC 27695 USA UNC Charlotte ECE Dept Charlotte NC USA Typhooon HIL Inc Cambridge MA USA

ISBN: (纸本)9781467349161;9781467349147

We propose a Convertible Static Transmission Controller (CSTC) concept that enables coordinated power flow control with emphasis on large penetration of renewable energy resources based transmission in a meshed network. CSTS can be connected across the substation power transformer and reconfigured for different modes of operation to perform as a versatile transmission controller with several functions including: power flow control for transmission of renewable resources, and as a transformer back-up for disaster management and/or life extension purposes. Different connecting configuration options, i.e. shunt-shunt, series-shunt, and series-series can be obtained. In this paper, we demonstrated the viability of the proposed concept using Typhoon HIL400 ultra-high fidelity hardware-in-the-loop (HIL) system in three different modes of operation. HIL simulations are used to verify the validity of the proposed control architecture for CSTC operation during both normal and unbalanced power system conditions for different connecting configurations.

关键词： Renewable Transmission Disaster Management Power Flow Control Convertible Static Transmission controller hardware-in-the-loop simulation

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Latency Analysis and Evaluation of C-V2X Communications Using the 5G Uu Interface

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IEEE INTERNET OF THINGS JOURNAL 2024年第24期11卷 40506-40515页

作者： Zhang, Ju Qiu, Jiahui Lin, Xiaobo Cai, Chao Cai, Yuchen Liu, Liu Beijing Jiaotong Univ Inst Broadband Wireless Mobile Commun Beijing 100044 Peoples R China China United Network Commun Grp Co Ltd Intelligent Network Innovat Ctr Beijing 100033 Peoples R China

In recent years, 5G new radio (NR) has garnered significant attention for its low-latency capabilities. Leveraging 5G NR in the Internet of Vehicles (IoV), the Uu interface has shown potential to support low-latency cellular Vehicle-to-Everything (C-V2X) applications, which have traditionally been supported by the PC5 interface. To explore this potential, this article presents the design and implementation of two 5G simulation platforms. The first platform is a hardware-in-the-loop (HiL) simulation platform, which facilitates radio access network (RAN) latency testing of C-V2X communications using the Uu interface under both 5G conventional configuration (CC) and enhanced configuration (EC). This includes testing Vehicle-to-Network (V2N), Network-to-Vehicle (N2V), and Vehicle-to-Network-to-Vehicle (V2N2V) latency. To further investigate the latency performance of 5G V2N2V in congested scenarios, a second platform, the software (SW) simulation platform, is designed and implemented. The platform assesses the impact of packet configurations and spectrum resource configurations on the RAN latency of 5G V2N2V communication within the congested scenario configured in this article. Latency results from the HiL and SW simulation platforms demonstrate that by adjusting 5G network configurations, packet configurations, and spectrum resource configurations, V2N, N2V, and V2N2V latency can be reduced to less than 2, 3, and 11 ms, respectively.

关键词： 5G mobile communication hardware-in-the-loop simulation Uplink Delays Data models Testing Downlink 5G new radio (NR) cellular Vehicle-to-Everything (C-V2X) latency Uu interface

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Constraint tightening-based control for small-satellite formations using differential aerodynamic forces

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ADVANCES IN SPACE RESEARCH 2024年第2期74卷 872-889页

作者： Hu, Yuandong Han, Dairu Lu, Zhengliang Liao, Wenhe Nanjing Univ Sci & Technol Sch Mech Engn 200 Xiaolingwei St Nanjing 210094 Jiangsu Peoples R China Nanjing Univ Sci & Technol Sch Elect & Opt Engn 200 Xiaolingwei St Nanjing 210094 Jiangsu Peoples R China

Aerodynamic forces hold significant promise for controlling small-satellite formations in low Earth orbit. However, significant challenges still exist regarding complex input constraints and their application to multi-satellite formations. This paper proposes a constraint tightening-based control scheme for small-satellite formations, utilizing differential drag and lift as actuating forces. Two attitude adjustment strategies, namely the reorientation strategy and the single-radial rotation strategy, are compared in terms of their control effectiveness and applicability. Relative aerodynamic coefficients are employed as control inputs in view of their solid reachable region, followed by the development of a decoupling algorithm for determining pointing angles. Through a method that tightens the reachable region using liner models, the input constraints are linearized and can be explicitly expressed. Subsequently, an observer-based Model Predictive Control (MPC) algorithm is formulated to meet these linearized input constraints and provide feedforward compensation for system disturbances. This discrete algorithm enables practical onboard implementations owing to its low computational complexity. Additionally, a concept of overall computation for all satellites' attitudes is proposed to adapt the control scheme for multi-satellite formations. hardware-in-the-loop simulations are conducted to evaluate the control scheme's performance in along-track and circular formations, accounting for uncertainties in aerodynamic forces and attitude dynamics. (c) 2024 COSPAR. Published by Elsevier B.V. All rights reserved.

关键词： Small-satellite formation Relative motion control Aerodynamic forces Model predictive control hardware-in-the-loop simulation

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Coordinated control algorithm of lateral stability of hybrid electric commercial vehicle

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2024年第9期238卷 2767-2785页

作者： Zeng, Xiaohua Gao, Haoming Song, Dafeng Li, Liangyu Jilin Univ State Key Lab Automot Simulat & Control 5988 Renmin St Changchun 130025 Jilin Peoples R China

Focusing on the problem of mutual interference between the vehicle controller and the lateral stability control system in the stability control of hybrid electric vehicles (HEV), this study proposes a coordinated control algorithm for hybrid power systems and lateral stability, which can meet the real-time control requirements of the vehicle stability. First, the overall architecture of coordinated control between the hybrid power system and the vehicle lateral stability control system is designed. The judgment logic of lateral stability control system intervention and exit is determined on this basis. Second, in the upper layer of the control algorithm, the model predictive control algorithm is used to calculate the additional yaw moment required to maintain stability control under lateral instability of the vehicle with the vehicle two-degrees-of-freedom model as a reference. The motor output torque control and braking force distribution are then carried out in the lower layer of the control algorithm. The target braking wheel is determined according to the oversteering and understeering state of the hybrid vehicle. The additional yaw torque distribution control is formulated based on the quadratic programing algorithm. The strategy is to perform dynamic compensation for unstable or critically unstable vehicles to solve the optimal control problem under multiple constraints. Finally, through Matlab/Simulink and Trucksim co-simulation and hardware-in-the-loop test, the validity and real-time performance of the control algorithm proposed are verified to solve the interference problem in the lateral stability control process of HEVs and further improve the stability of vehicle rideability and active safety.

关键词： Lateral stability control hybrid electric commercial vehicle coordination control hardware-in-the-loop simulation

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Gesture-Based Steering Framework for Redundant Soft Robots

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2024年第6期29卷 4651-4663页

作者： Lai, Jiewen Lu, Bo Huang, Kaicheng Chu, Henry K. Hong Kong Polytech Univ Dept Mech Engn Kowloon Hong Kong Peoples R China Chinese Univ Hong Kong Dept Elect Engn Shatin Hong Kong Peoples R China Soochow Univ Robot & Microsyst Ctr Sch Mech & Elect Engn Suzhou 215006 Peoples R China Southern Univ Sci & Technol Dept Mat Sci & Engn Shenzhen 518055 Peoples R China

Traditional soft robot steering using different devices, such as a mouse or joystick, provides convenient ways to move the robot's tip around in omni-direction, but they may need to be more user-friendly for redundant soft robots as the null space motion can be difficult to teleoperate. In this work, we propose an intuitive approach as a framework to steer a two-segment soft-bodied robot in 3-D space using motile gestures. A lightweight hand-tracking device is employed as the input device to define the position and orientation of the robot tip, and the tip motion can be synchronized from the hand gesture-which is estimated and enhanced by a Kalman filter and low-pass filter with spherical linear interpolation-in real-time. The inverse kinematics (IK) can be rapidly computed based on the convex optimization online. Different hand gestures can be understood to execute the prescribed constrained robot motion. A hardware-in-the-loop simulator and extensive prototype experiments are presented to verify the performance and robustness of the framework. Experiment results show that the master-follower control runs with a steady 11 Hz update rate, and the measured robot's configurations are within 2 mm (for a 100-mm slender manipulator) in either axis in free space steering. This work contributes an intuitive, comprehensible, and low-cost steering framework for redundant soft robots with multimode motion, rapid IK computation, and satisfactory accuracy.

关键词： Robots Soft robotics Real-time systems Cables Bending Aerospace electronics Task analysis hardware-in-the-loop simulation motion control soft robotics tele-operation

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hardware-in-the-loop Implementation of an Optimized Energy Management Strategy for Range-Extended Electric Trucks

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ENERGIES 2024年第21期17卷 5294-5294页

作者： Shiledar, Ankur Villani, Manfredi Rizzoni, Giorgio Ohio State Univ Dept Mech & Aerosp Engn 201 W 19th Ave Columbus OH 43210 USA Ohio State Univ Ctr Automot Res 930 Kinnear Rd Columbus OH 43212 USA

The reliance of the commercial transportation industry on fossil fuels has long contributed to pollutant and greenhouse gas emissions. Since full electrification of medium- and heavy-duty vehicles faces limitations due to the large battery capacity required for extended driving ranges, this study explores a Range-Extended Electric Vehicle (REEV) for medium-duty Class 6 pick-up and delivery trucks. This hybrid architecture combines an electric powertrain with an internal combustion engine range-extender. Maximizing the efficiency of REEVs requires an Energy Management Strategy (EMS) to optimally split the power between the two power sources. In this work, a hierarchical EMS is developed through model-based design and validated via hardware-In-The-loop (HIL) simulations. The proposed EMS demonstrated a 7% reduction in fuel consumption compared to a baseline control strategy, while maintaining emissions and engine start frequency comparable to a benchmark globally optimal EMS obtained with dynamic programming. Furthermore, HIL results confirmed the strategy's real-time implementation feasibility, highlighting the practical viability of the controller. This research underscores the potential of REEVs in significantly reducing emissions and fuel consumption, as well as providing a sustainable alternative for medium-duty truck applications.

关键词： range-extended electric vehicle optimal energy management strategy dynamic programming equivalent consumption minimization strategy hardware-in-the-loop simulation

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Characterization and verification of the optimal feedback gain of a satellite magnetorquer-based attitude control system

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ADVANCES IN SPACE RESEARCH 2024年第11期74卷 5745-5766页

作者： Panyalert, Thanayuth Manuthasna, Shariff Chaisakulsurin, Jormpon Masri, Tanawish Palee, Kritsada Prasit, Pakawat Torteeka, Peerapong Konghuayrob, Poom King Mongkuts Inst Technol Ladkrabang Sch Engn Dept Robot & Artificial Intelligence Ladkrabang1 Alley Bangkok 10520 Thailand Natl Astron Res Inst Thailand Natl Res Infrastructure Deep Space Explorat Projec 260Don KaewMae Rim Bangkok 50180 Thailand

In spacecraft mission planning and operation, the attitude determination and control subsystem (ADCS) of a satellite provides information about the orientation of the satellite in the inertial reference frame. Furthermore, this subsystem produces the control actions required to adjust the orientation of the satellite, especially in the low-Earth orbit (LEO) regime. This paper focuses on the satellite's three-axis attitude control problem within the context of active and passive control, which includes detumbling control, pointing control, magnetic control, and attitude stabilization after solar panel wing deployment using magnetorquers as the primary actuators. The objective is to stabilize and reduce the angular rate while orienting the satellite to the desired attitude. The proposed satellite attitude control system (ACS) strategies are designed, developed, characterized, and verified. These strategies encompass the B-dot control algorithm for detumbling control along with pointing control and attitude stabilization after solar panel wing deployment. hardware-in-the-loop simulation (HiLs) tests are conducted to assess the performance of the satellite magnetorquer-based ACS in the presence of noise. These tests involve a relative Earth's magnetic field (EMF) generator in conjunction with SGP-4-based satellite orbital propagator high-level control software. Additionally, cascade proportional-integral-derivative (PID) and state-dependent Riccati equation (SDRE) controllers are implemented to generate sufficient torque using three-axis magnetorquers on a frictionless air-bearing platform. The platform is balanced to closely simulate the dynamic motion of a spacecraft in space. The testing includes a single initial condition and three inertia conditions for stabilization after solar panel wing deployment. Finally, the effectiveness of the cosimulation as a primary experiment through an integrated HiLs process is validated. This comprehensive approach confirms the contr

关键词： Satellite attitude control system Three-axis magnetorquer Helmholtz cage hardware-in-the-loop simulation Control strategies

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