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A Novel Finite Control Set Model Predictive Control for Transformer Energization in Black Start

IEEE Transactions on Smart Grid 2025年

作者： Bainian, Chen Quan, Xiangjun Hu, Qinran Wu, Zaijun Southeast University School of Electrical Engineering Nanjing210096 China Southeast University Shenzhen Research Institute Shenzhen518063 China Hainan Power Grid Co. Ltd Haikou570203 China

Inverter-based resources (IBRs) are essential for rapid microgrid restoration following blackouts, as they can provide black start services. However, transformer energization during a black start generates a magnetizing inrush that destabilizes the inverter, often leading to failure in grid restoration. This phenomenon represents a significant challenge for the effective deployment of IBRs in black start operations. To address this issue, this paper proposes a novel finite control set model predictive control (FCS-MPC) approach for inverter-based transformer energization aimed at enabling successful microgrid black start. The paper begins with an analysis of the flux characteristics of the transformer. Then, an autoregressive with exogenous input (ARX) model is developed to predict the transformer’s magnetizing current. A magnetizing inrush mitigation algorithm is then introduced, combining the ARX model with a classical two-level inverter voltage control strategy. Comparative simulations and hardware-in-the-loop (HIL) experiments validate the effectiveness of the proposed method, demonstrating significant improvements in mitigating magnetizing inrush, achieving fast dynamic responses, and maintaining stable static waveforms. © 2010-2012 IEEE.

关键词： hardware-in-the-loop simulation

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Event-triggered active return-to-center control for steer-by-wire system by a time-window algorithmic framework

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Control Engineering Practice 2025年 163卷

作者： Wu, Xiaodong Liu, Shuhan Wang, Jinjie Shi, Baoran Institute of Intelligent Vehicle Shanghai Jiaotong University Shanghai200240 China Polytech Paris-Saclay Paris-Saclay University Paris91190 France Shanghai Jiaotong University Chongqing Research Institute Chongqing401135 China

Since the mechanical decoupling of the steer-by-wire system, the self-aligning torque from the vehicle tire cannot be transmitted to the steering wheel. As a result, the steering wheel does not automatically return to the center position after the driver releases the steering wheel. In order to design an active return-to-center (RTC) steering system, this paper proposes an event-triggered active RTC control for the steer-by-wire system by a time-window algorithmic framework. The active return state is worked by the slide mode control to track the steering wheel RTC speed reference. For the SBW system, an RTC speed reference model is designed to obtain referable kinematic characteristics of an ideal mechanical steering system. Additionally, an active return transition module for RTC state switching is designed by a time-state sequence transfer mechanism, which is used to reduce the jerking sensation during the transition between normal steering and active returning states. To evaluate the effectiveness of the proposed algorithms, a hardware-in-the-loop test platform with a steer-by-wire system is established. Based on the different experimental scenarios, the performance of the proposed active RTC control approach is verified by comparative analysis. © 2025 Elsevier Ltd

关键词： hardware-in-the-loop simulation

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Transfer of Reinforcement Learning-Based Powertrain Controllers From Model- to hardware-in-The-loop

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IEEE Transactions on Vehicular Technology 2025年

作者： Picerno, Mario Koch, Lucas Badalian, Kevin Wegener, Marius Schaub, Joschka Koch, Charles R. Andert, Jakob RWTH Aachen University Teaching and Research Area Mechatronics in Mobile Propulsion Forckenbeckstraße 4 Aachen52062 Germany FEV Europe GmbH Neuenhofstraße 181 Aachen52080 Germany University of Alberta Department of Mechanical Engineering EdmontonABT6G 1H9 Canada

Developing powertrain control functions is time-consuming and resource-intensive, often leading to sub-optimal solutions. Reinforcement Learning (RL) allows agents to perform complex control tasks with minimal human involvement, but is often confined to simulations due to testing costs and safety concerns. To effectively apply RL in embedded powertrain control, agents must be able to handle real-world scenarios, particularly through direct interaction with real actuators and control systems. Therefore, this research applies Transfer Learning (TL) and X-in-the-loop (XiL) simulations to develop agents that can seamlessly transition and perform robustly in real-world environments. For transient exhaust gas re-circulation control of an internal combustion engine, the process begins with a computationally inexpensive Model-in-the-loop (MiL) simulation to select a suitable algorithm, fine-tune hyperparameters, and conduct preliminary training. In the next step, pre-trained agents are transferred to an advanced hardware-in-the-loop (HiL) system with real hardware using TL for further training. Compared to agents trained entirely on HiL systems, transferred agents required significantly less real-world training time (up to 5.9 times shorter) while outperforming the series production Engine Control Unit (ECU). The results highlight that for real-world effectiveness, integrating actual hardware into training is essential, reward fine-tuning plays a critical role in optimizing these interactions, and the maturity of the policy significantly influences both training duration and overall performance. © 1967-2012 IEEE.

关键词： hardware-in-the-loop simulation

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Foundation for adaptive charging solutions: Optimised use of electric vehicle charging capacity

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IET SMART GRID 2021年第6期4卷 599-611页

作者： Simolin, Toni Rauma, Kalle Rautiainen, Antti Jarventausta, Pertti Rehtanz, Christian Tampere Univ Unit Elect Engn Korkeakoulunkatu 7 Tampere 33720 Finland TU Dortmund Univ Inst Energy Syst Energy Efficiency & Energy Econ Dortmund Germany

As electric vehicles (EVs) are emerging, smart and adaptive charging algorithms have become necessary to ensure safe and efficient operation of the grid. In the scientific literature, most of the proposed charging control algorithms focus solely on EV usage-related behaviour, while the charging characteristics of EVs are overlooked. Herein, realistic charging characteristics are illustrated and discussed. More notably, to overcome the issues caused by the non-idealities in charging characteristics, a new adaptive charging characteristics expectation algorithm is proposed. The objective of this algorithm is to enable accurate estimation of the non-ideal charging characteristics. This can be used to reallocate any unused charging capacity and to ensure that the intended total capacity is used effectively. The effectiveness of the proposed algorithm is demonstrated using hardware-in-the-loop simulations with commercial EVs and real charging data. The results show that the proposed algorithm achieves an 88%-97% capacity usage rate, while the current benchmark solution achieves only 45%.

关键词： electric vehicles electric vehicle charging power grids hardware-in-the-loop simulation power engineering computing

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Normalized passivity control for hardware-in-the-loop with contact

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INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL 2021年第4期9卷 1471-1477页

作者： Insam, Christina Peiris, L. D. Hashan Rixen, Daniel J. Tech Univ Munich Chair Appl Mech D-85748 Garching Germany Univ Bath Ctr Power Transmiss & Mot Control Bath BA2 7AY England

Mechanical contact occurs in many engineering applications. Contact dynamics can lead to unwanted dynamic phenomena in mechanical systems. Hence, it would be desirable to investigate the influence of contact dynamics on a dynamical system already in the development stage. An appropriate method is hardware-in-the-loop (HiL) on mechanical level. However, the coupling procedure in HiL is prone to stability problems and previous studies revealed that HiL tests of systems with contact are even more challenging, as the system dynamics change rapidly when contact occurs. Passivity-based control schemes, well-known from teleoperation, have recently been used to stabilize HiL simulations of systems with continuous dynamics. Here, we investigate the applicability of Normalized Passivity Control to HiL tests of a one-dimensional mass-spring-damper system experiencing contact. Experimental results reveal that this kind of passivity control keeps the test stable and also improves the test fidelity. This research is an important first step in using passivity control for stable and safe hybrid simulation of complex systems with contact using HiL approaches.

关键词： hardware-in-the-loop simulation Real-time hybrid simulation Passivity-based control Contact dynamics

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Mobile Software and hardware Complex for Flight Experiments

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OPTOELECTRONICS INSTRUMENTATION AND DATA PROCESSING 2021年第4期57卷 338-344页

作者： Belokon, S. A. Derishev, D. S. Zolotukhin, Yu N. Kotov, K. Yu Maltsev, A. S. Russian Aceademy Sci Siberian Branch Inst Automat & Electrometry Novosibirsk 630090 Russia Novosibirsk Sci Res Inst Aviat Technol & Prod Org Novosibirsk 630051 Russia

In this paper the developed and implemented software and hardware complex for flight experiments is presented. The complex ensures operation in hardware-in-the-loop simulation mode, an aircraft crew training mode and a ground control station mode. The purpose and functional features of each of the operating modes of the complex are highlighted. The results of research using the developed complex on the example of a remotely controlled aircraft-a flying laboratory-are presented.

关键词： hardware-in-the-loop simulation attitude and heading reference system ground control station aircrew training

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Vehicle-in-Virtual-Environment (VVE) Method for Autonomous Driving System Development, Evaluation and Demonstration

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SENSORS 2023年第11期23卷 5088页

作者： Cao, Xincheng Chen, Haochong Gelbal, Sukru Yaren Aksun-Guvenc, Bilin Guvenc, Levent Ohio State Univ Automated Driving Lab 1320 Kinnear Rd Columbus OH 43212 USA

The current approach to connected and autonomous driving function development and evaluation uses model-in-the-loop simulation, hardware-in-the-loop simulation and limited proving ground use, followed by public road deployment of the beta version of software and technology. The rest of the road users are involuntarily forced into taking part in the development and evaluation of these connected and autonomous driving functions in this approach. This is an unsafe, costly and inefficient method. Motivated by these shortcomings, this paper introduces the Vehicle-in-Virtual-Environment (VVE) method of safe, efficient and low-cost connected and autonomous driving function development, evaluation and demonstration. The VVE method is compared to the existing state-of-the-art. Its basic implementation for a path-following task is used to explain the method where the actual autonomous vehicle operates in a large empty area with its sensor feeds being replaced by realistic sensor feeds corresponding to its location and pose in the virtual environment. It is possible to easily change the development virtual environment and inject rare and difficult events which can be tested very safely. Vehicle-to-Pedestrian (V2P) communication-based pedestrian safety is chosen as the application use case for the VVE in this paper, and corresponding experimental results are presented and discussed. A no-line-of-sight pedestrian and vehicle moving towards each other on intersecting paths with different speeds are used in the experiments. Their time-to-collision risk zone values are compared for determining severity levels. The severity levels are used to slow down or brake the vehicle. The results show that V2P communication of pedestrian location and heading can be used successfully to avoid possible collisions. It is noted that actual pedestrians and other vulnerable road users can be used very safely in this approach.

关键词： autonomous driving connected driving vehicle-in-virtual-environment model-in-the-loop simulation hardware-in-the-loop simulation

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Research on the rolling channel control of micro tailless air-to-ground missile

Research on the rolling channel control of micro tailless ai...

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2021 International Conference on Control Theory and Applications, ICoCTA 2021

作者： Liu, Lin Chen, Yun Zhao, Tao Lu, Juanzhi Ma, Fei Xi'An Institute of Modem Control Technology Xi'an710065 China

Due to the limitation of volume and weight, the missile body parameters of the micro tailless air-to-ground missile have a large range during flight, and the characteristics of the rolling channel are greatly different from those of conventional missiles, the stability control of the roll channel is greatly affected by the error of the actuator. Under the classic PID control, the HWIL simulation results show that the jitter of roll angle is obvious, and the anti-disturbance ability of the system is poor. Based on the classic PID, fuzzy control is introduced to optimize the design of rolling channel by using fuzzy online self-correcting PID control. The results of the hardware-in-the-loop simulation show that the jitter of roll angle is suppressed, which improves the characteristics of the roll channel and the control efficiency. © Published under licence by IOP Publishing Ltd.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop Protection Validation for Dominion Energy Blackstart Operations

Hardware-in-the-Loop Protection Validation for Dominion Ener...

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2022 North American Power Symposium, NAPS 2022

作者： Dorado-Rojas, Sergio A. Vanfretti, Luigi Li, Xiawen Till, Micah J. Jones, Kevin D. Gardner, Matthew Rensselaer Polytechnic Institute TroyNY United States University of Connecticut StorrsCT United States Dominion Energy Electric Transmission Operations RichmondVA United States

ISBN: (纸本)9781665499217

This article assesses transformer differential protection and out-of-step blocking (OOSB) schemes during blackstart in Dominion Energy's system. The protective functions are validated by hardware-in-the-loop (HIL) simulations involving the relay hardware with the configurations deployed on the field. Additionally, we introduce a systematic methodology to generate OOSB testing scenarios based on the analytic linearization of the system dynamical model. Our results show that both protective functions perform satisfactorily despite the weak grid condition of the network during restoration. © 2022 IEEE.

关键词： hardware-in-the-loop simulation

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HIL simulation of a self-stabilizing monorail vehicle 48

HIL simulation of a self-stabilizing monorail vehicle

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Griese, Martin Mousavi, Seyed Davood Schulte, Thomas Lemgo32657 Germany

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Currently, numerous single-track railway lines are disused due to economic reasons. However, one way they could be reactivated for a bidirectional on-demand service traffic by small vehicles that use only one rail. MonoCabs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MonoCab, there is currently no reference in comparison with other vehicles and no experimental experience or the like. To ensure the function and safety of the vehicle even before implementation, a model-based design of the system is carried out for development and analysis. In order to test the developed algorithms, this paper presents a hardware-in-the-loop structure considering a detailed model of the vehicle and real electronic control units to accurately represent the overall system. Two scenarios are investigated and compared to offline simulations showing that the functionality of the system can be ensured in operation. © 2022 IEEE.

关键词： hardware-in-the-loop simulation

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