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2919 | Accurate Rover Mobility Analysis Using HILS-DRFT with Real-Time Parameter Tuning Approach 21

2919 | Accurate Rover Mobility Analysis Using HILS-DRFT with...

21st International and 12th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2024

作者： Fuke, Takahiro Ishikawa, Sora Ishigami, Genya Department of Mechanical Engineering Keio University Yokohama Japan

ISBN: (纸本)9781942112570

Offroad mobility in extraterrestrial exploration can be significantly degraded by vehicle slippage on soft terrain covered with fine powdery sand known as regolith. Comprehensive design analysis and verification of the rover's mobility have been widely investigated using numerical and experimental approaches. Numerical simulations for the mobility analysis require accurate modeling of the contact forces between the wheel and sand. While several wheel-sand interaction models have been proposed based on the Bekker-Wong-Reece theory, the Dynamic Resistive Force Theory (DRFT) proposed in the early 2020s is a notable approach for its low computational cost and adaptability to quasi-dynamic motion. The scaling factor used in DRFT is the only parameter for representing sand-dependent parameters, and its value needs to be empirically tuned to achieve accurate and reliable mobility analysis. Therefore, the authors have integrated a single-wheel test bed into a closed-loop hardware-in-the-loop simulation (HILS) associated with DRFT. This HILS-DRFT experimentally observes the characteristics of the wheel sinking phenomenon in the wheel test bed, and then, the value of the scaling factor is tuned in real-time by the difference between the observed wheel sinkage and the DRFT simulation. This real-time parameter tuning method accurately reproduces wheel mobility, particularly in its transient states, which were previously unachievable with DRFT alone. The proposed HILS-DRFT with the real-time tuning method will contribute to the efficient and reliable development of rovers. © 2024 International Society for Terrain-Vehicle Systems. All rights reserved.

关键词： hardware-in-the-loop simulation

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Multiple Setting Groups Based Adaptive Protection for Radial Distribution Feeder 77

Multiple Setting Groups Based Adaptive Protection for Radial...

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77th Annual Conference for Protective Relay Engineers, CFPR 2024

作者： Barik, Tapas Kumar Padmanabhan, Aadityaa Bello, Mobolaji Mcguinness, Sean Chan, Pei Yuan Electric Power Research Institute Knoxville United States EPRI Europe DAC Dublin Ireland PPL Electric Utilities Pennsylvania United States

ISBN: (纸本)9798350360295

Most existing midline electronic reclosers on radial distribution feeders support up to eight settings groups, some of which may already be in use. However, the setting groups that can be stored in these devices to accommodate and cater to numerous system configurations are limited. To configure each of the four available settings groups to provide the optimal response for all reclosers under all conditions presents a significant challenge. The proposed logic in this paper discusses the feasibility of selecting a standard set of settings groups which can be deployed to all electronic reclosers across a set of feeders out of a substation. These standard settings need to be calculated after extensive protection coordination studies which can also be automated. The implementation of this philosophy in conjunction with a standard Fault Location, isolation and Service Restoration (FLISR) scheme was tested in a hardware in the loop (HIL) environment. © 2024 IEEE.

关键词： hardware-in-the-loop simulation

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Methodology for Analyzing Standalone Hybrid Railway Propulsion Systems: A Model Based System Engineering Approach 24

Methodology for Analyzing Standalone Hybrid Railway Propulsi...

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24th EEEIC International Conference on Environment and Electrical Engineering and 8th I and CPS Industrial and Commercial Power Systems Europe, EEEIC/I and CPS Europe 2024

作者： Pozzessere, Adriano Ruvio, Alessandro Di Carlo, Luca Pugi, Luca Borello, Domenico Sapienza University of Rome Dept. of Astronautical Electrical and Energy Engineering Rome Italy University of Florence Dept. of Industrial Engineering Florence Italy Sapienza University of Rome Dept. of Mechanical and Aerospace Engineering Rome Italy

ISBN: (纸本)9798350355185

In this paper Hybrid Trains with more than one on board energy storage system are investigated. In details, a Hybrid Train which utilize a Fuel Cell system and a battery pack as stand-alone energy storage is analyzed. The CN4 Project, carried within the MOST - Sustainable Mobility National Research Center and financed by the PNRR funds, is about the decarbonization of the Italian Mobility sector. In particular, Spoke 2, which this work falls within, has as its main objective the study of the feasibility of alternative systems for railway propulsion on non-electrifiable lines. The main objective of the work, in line with the goals of the CN4 project, is to create both a numerical configurator and a digital twin of a Hybrid Train to study the feasibility of such systems in the Italian Railway scenario. The study aims at developing a methodology to aid the assessment of economic and environmental sustainability of the system in analysis and to investigate the effects of different Energy Management Systems (EMS). Due to the complexity of the involved control logic, a hardware in the loop (HIL) simulation will be carried out in order to test and verify the applicability of the proposed EMS on real systems. © 2024 IEEE.

关键词： hardware-in-the-loop simulation

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Toward Automation for Geographically Distributed Power hardware-in-the-loop Experiments 24

Toward Automation for Geographically Distributed Power Hardw...

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24th EEEIC International Conference on Environment and Electrical Engineering and 8th I and CPS Industrial and Commercial Power Systems Europe, EEEIC/I and CPS Europe 2024

作者： Pham, Minh Cong Tran, Thien Phong Tran, Quoc Tuan Univ. Grenoble Alpes Cea Liten Campus Ines Le Bourget-du-Lac73375 France

ISBN: (纸本)9798350355185

Geographically Distributed Power hardware-in-the-loop (GD-PHIL) applications have been mainly intended as a way to interconnect several laboratories or research centers in order to share simulation hardware and computational resources;in such scenario, the co-simulating environment plays a crucial role in the process, as a sort of platform in which different resources from different manufacturers can communicate. In this paper, an automation strategy for GD-PHIL experiments is proposed. The details of the setup and automation procedure of GD-PHIL experiments are introduced. A case study with a Coordinated Voltage Control algorithm with two distance platforms/Research Infrastructures (RIs) is investigated to verify the feasibility of the proposed approach. © 2024 IEEE.

关键词： hardware-in-the-loop simulation

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IEC61850 GOOSE message application for a power transformer voltage control 33

IEC61850 GOOSE message application for a power transformer v...

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33rd Southern African Universities Power Engineering Conference, SAUPEC 2025

作者： Wellen, Joniff Krishnamurthy, Senthil Ratshitanga, Mukovhe Department of Electrical Electronics and Computer Engineering PO BOX 1906 Bellville7535 South Africa

ISBN: (纸本)9798331535162

Voltage regulation of power transformers is critical to controlling and maintaining system voltage levels in the electrical transmission and distribution network system. It is vital to keep the transmission and distribution network's voltage levels within a specified range and to avoid voltage levels from fluctuating outside of the predetermined range of allowed tolerance levels. Two SEL-2414 IEDs were employed in this study to perform the voltage control function of the parallel power transformers using a master-follower control scheme. The automatic tap changers that execute this voltage regulating function incorporate the IEC61850 GOOSE message application as the communication protocol. The paper demonstrates the control function, a hardware-in-the-loop simulation in a closed-loop simulation using Real Time Digital Simulator (RTDS), and the two transformer tap changer IEDs SEL-2414 were utilized for lab-scale implementation and validating the simulation results. © 2025 IEEE.

关键词： hardware-in-the-loop simulation

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hardware-in-loop Design Method for Performance Testing of Grid-Forming Storage Inverter with Real-Time Digital Simulators and Digital Signal Processor

Hardware-in-Loop Design Method for Performance Testing of Gr...

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International Conference of Electrical, Electronic and Networked Energy Systems, EENES 2024

作者： Xu, Fucong State Grid Fujian Electric Power Co. Ltd. Fuzhou350007 China

ISBN: (纸本)9789819620418

Currently, the massive renewable energy generation (REG) integration into the power grid changes it from synchronous generator-based to inverter-based, leading to the inertia of the power grid under a gradual decrease. The energy storage (ES) with fast power response and bi-directional power process ability can be used for supporting the power grid’s stable operation when the power grid with a high proportion REG. Especially for the grid-forming ES inverter (ESI), which can further increase the capability of frequency and voltage support in a weak grid. However, the verification method for the ESI control method’s reliability and effectiveness is usually through the simulation or hardware test, which is not accurate, long time-consuming, or expensive for the large capacity ESI. Therefore, in this paper, an experimental platform that uses the hardware in the loop (HIL) strategy through real-time digital simulators (RTDS) and digital signal processing (DSP) for real control is built, which can significantly increase verification speed and reduce cost. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： hardware-in-the-loop simulation

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A Machine Learning (ML) Approach for Three-Dimensional (3-D) Scatter Center Model (SCM) Reduction of a Complex Target in hardware-in-the-loop (HWIL) simulations

A Machine Learning (ML) Approach for Three-Dimensional (3-D)...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Wellington, Colby D. HuntsvilleAL35899 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

The increased complexity and number of scatter center models (SCMs) in hardware-in-the-loop (HWIL) scenario simulations persists as an issue for the reconstruction of targets in real-time. To mitigate HWIL simulations from failing due to system constraints, the high-fidelity (max scatterer) SCMs are reduced into a smaller subset from its predecessor and used to stimulate the HWIL with object signatures. Statistical feature data is extracted from the back-scattered radar cross section (RCS) and utilized in various radar applications such as tracking and object classification. It is imperative that the reduced SCMs are presenting the radar with accurate signature profiles of the objects. The reduction methods utilized in this work will reduce the number of scattering centers, while still accurately stimulating the radar as the original full high-fidelity SCM. This work intends to develop a guideline for effectively reducing SCMs without affecting the fidelity of the target models. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： hardware-in-the-loop simulation

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An improved long-horizon model predictive control for DFIG in WECS with variable sampling-time

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IET RENEWABLE POWER GENERATION 2022年第3期16卷 517-531页

作者： Younesi, Aria Tohidi, Sajjad Feyzi, Mohammad R. Univ Tabriz Fac Elect & Comp Engn Tabriz Iran

This paper presents an improved finite-control-set model predictive control (MPC) strategy for the doubly fed induction generator (DFIG). The MPC-based controller's main drawback is high computational burden, which requires a long time to perform online optimization. In this regard, real-time implementation becomes impossible in some cases. Thereupon, this paper suggests a variable sampling time in the prediction process to achieve a balance between the prediction horizon and computational burden. In other words, compared to the conventional MPC-based techniques, longer horizon is predicted with fewer samples. In this method, there are two sampling times including a fixed sampling time for the system discretization structure, and a variable sampling time used in the prediction process. The proposed technique also utilizes a comparative incremental algorithm to prevent checking all possible control inputs over the objective function in order to reduce the computational time further. In addition, a penalty term, which includes the number of switch changes, is added to the cost function to reduce the switching frequency. Both the simulation and experimental results show that the proposed MPC can significantly improve the DFIG control system's performance by increasing the accuracy of tracking response and reducing the computational time. The experimental test is carried out by the hardware in loop system by using TMS320F28338 and PC-Lab card. The computational delay caused by the digital signal processor and other influential factors are compensated by using the prediction plus prediction approach. The results confirm that the proposed controller has a lower overshoot and power ripple compared to the vector controller and direct torque controller. It also reduces the computational time up to 40% and reduces the average switching frequency by 12% in comparison to the conventional MPC.

关键词： WECS DFIG power engineering computing vector controller PC-Lab card hardware in loop system control engineering computing finite-control-set MPC strategy sampling methods computational time prediction process predictive control long-horizon model predictive control asynchronous generators variable sampling-time doubly fed induction generator finite-control-set model predictive control strategy TMS320F28338 hardware-in-the-loop simulation power system control computational burden direct torque controller prediction plus prediction wind power torque control prediction horizon

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Circular Formation Guidance of Fixed-Wing UAVs Using Mesh Network

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IEEE ACCESS 2022年 10卷 115295-115306页

作者： Kim, Suhyeon Cho, Hyeongjun Jung, Dongwon Korea Aerosp Univ Dept Smart Drone Convergence Goyang Si 10540 South Korea

This paper presents the guidance algorithm for the circular formation flight of multiple fixed-wing UAVs. The formation guidance law aims at reducing both the radial and the phase angle error with respect to the moving reference point located at a fixed distance from the leader UAV. To this end, the proposed guidance law generates the desired course angle and the inertial speed commands for each follower UAV. The control commands are then converted to the roll angle and the airspeed commands for the autopilot. The theoretical stability proof is rigorously analyzed via the Lyaupunov method. The performance of the proposed control law is compared with the existing vector-field formation guidance scheme via numerical simulation. After the extensive validation using the hardware-in-the-loop simulation environment which includes the mesh network communication system, the flight test are performed to demonstrate not only the performance of the proposed algorithm but also the robustness to the wind disturbance.

关键词： Target tracking Autonomous aerial vehicles Mesh networks Sliding mode control Trajectory Stability analysis Autopilot Aerospace control hardware-in-the-loop simulation Multiple fixed-wing UAVs circular formation formation guidance sliding mode control mesh network hardware-in-the-loop-simulation flight test

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Coordinated path following control of fixed-wing unmanned aerial vehicles in wind

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ISA TRANSACTIONS 2022年 122卷 260-270页

作者： Chen, Hao Wang, Xiangke Shen, Lincheng Yu, Yangguang Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha 410073 Peoples R China

This paper addresses the coordinated path following control of fixed-wing unmanned aerial vehicles (UAVs) on a 2D plane with unknown wind disturbances. A novel control law is proposed for this type of UAVs subject to input saturation and positive airspeed constraints. Sufficient conditions for the stability of the closed-loop system satisfying the constraints are derived, and the upper bound of the path following error is established. The proposed coordination strategy considers the situation where the underlying communication topology satisfies the persistency of excitation condition, without requiring the topology to be pointwise connected. Finally, a hardware-in-the-loop simulation testbed consisting of pixhawk autopilots and X-Plane simulator is developed and used to validate the proposed methods. (c) 2021 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Coordinated path following control Fixed-wing unmanned aerial vehicles hardware-in-the-loop simulation Unknown wind disturbances

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