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Design of Real-Time hardware-in-the-loop TV Guidance System simulation Platform

INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING 2017年第1期2017卷 1-16页

作者： Chen, Zhongyuan Liu, Xiaoming Chen, Wanchun Beihang Univ Sch Astronaut Beijing 100191 Peoples R China

This paper presents a novel design of a real-time hardware-in-the-loop (HIL) missile TV guidance system simulation platform, which consists of a development computer, a target computer, a turntable, a control cabin, and a joystick. The guidance system simulation model is created on the development computer by Simulink (R) and then downloaded to the target computer. Afterwards, Simulink Real-Time (TM) runs the model in real-time. Meanwhile, the target computer uploads the real-time simulation data back to the development computer. The hardware in the simulation loop is TV camera, encoders, control cabin, servomotors, and target simulator. In terms of hardware and software, the system has been simplified compared with the existing works. The volume of the turntable integrating the target simulator and the seeker simulator is about 0.036 cubic meters compared to the original 8 cubic meters, so it has a compact structure. The platform can perform the closed-loop control, so the simulation has high precision. Taking the TV guidance simulation as an example, in the case of target maneuvering, the final miss distance of the TV guidance missile is 0.11812 m, while the miss distance of the original systemis 13m. The trajectories obtained from the HIL and mathematical simulations substantially coincide. So the simulation results show that the proposed HIL simulation platform is effective.

关键词： hardware-in-the-loop simulation MISSILE guidance systems simulation methods & models RAPID control prototyping

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Modeling of a 6×4 tractor and trailers for use in real time hardware in the loop simulation for ESC testing

Modeling of a 6×4 tractor and trailers for use in real time...

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SAE 2013 World Congress and Exhibition

作者： Rao, Sughosh J. Salaani, Mohamed Kamel Heydinger, Gary J. Guenther, Dennis A. Garrott, W. Riley Ohio State University United States Transportation Research Center Inc. United States SEA Ltd. United States National Hwy Traffic Safety Admin. United States

According to NHTSA's 2011 Traffic Safety Facts [1], passenger vehicle occupant fatalities continued the strong decline that has been occurring recently. In 2011, there were 21,253 passenger vehicles fatalities compared to 22,273 in 2010, and that was a 4.6% decrease. However;large-truck occupant fatalities increased from 530 in 2010 to 635 in 2011, which is a 20% increase. This was a second consecutive year in which large truck fatalities have increased (9% increase from 2009 to 2010). There was also a 15% increase in large truck occupant injuries from 2010. Moreover, the fatal crashes involving large trucks increased by 1.9%, in contrast to other-vehicle-occupant fatalities that declined by 3.6% from 2010. The 2010 accident statistics NHTSA's report reveals that large trucks have a fatal accident involvement rate of 1.22 vehicles per 100 million vehicle miles traveled compared to 1.53 for light trucks and 1.18 for passenger cars. This translates to a fatal accident involvement rate of 32.35 vehicles per 100,000 registered large trucks compared to 17.02 for light trucks and 13.09 for passenger cars. These statistics indicate that large trucks account for a disproportionately large number of fatal crashes compared to any other type of vehicle (excluding motorcycles) even though they account for only a small fraction of registered vehicles. However, testing tractor trailer combinations on the test track is a cumbersome, potentially dangerous, and expensive process. An alternate means to test such vehicles is to use hardware-in-the-loop (HIL) simulation technologies to test Electronic Stability Control (ESC) and other emerging advanced technologies intended for highway safety. The HIL simulation environment incorporates multiple software environments interacting with actual hardware. In such a simulation, the accuracy of the software models is critical to the accuracy of the simulation results. This paper outlines the modeling of a Volvo tractor and two trailers in Tru

关键词： hardware-in-the-loop simulation

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A Novel Semi-physical simulation Platform for Train Braking System Based on Cascade Control Strategy

A Novel Semi-physical Simulation Platform for Train Braking ...

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Photonics and Electromagnetics Research Symposium (PIERS)

作者： Liu, Ying Zhou, Kai Ting Wan, Ji Xuan Wan, Guo Chun Tong, Mei Song Tongji Univ Dept Elect Sci & Technol Shanghai Peoples R China

ISBN: (纸本)9781728172477

China's heavy haul trains are moving towards the trend of large marshalling and long marshalling. In this case, if the small marshalling train can be embedded into the software environment by using the computer interface, the software and hardware of the system are required to run in real time, so as to simulate the running state of the whole system. Using the small marshalling train and cascade control scheme, the running state of the long marshalling train is simulated on the semi-physical simulation platform, which has important guiding significance for the development of heavy haul trains. Based on the LabVIEW simulation software, this paper develops a hardware-in-the-loop simulation test platform for the braking system of 150 marshalling freight trains. It has the function of combining the small marshalling physical braking system with the control system model, obtaining the braking performance test data of long and large marshalling trains through the cyclic cascade experiment, and controlling the error between the real experimental results and the experimental results of the hardware-in-the-loop simulation within a reasonable range.

关键词： hardware-in-the-loop simulation

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Laboratory simulation of Electricity Harvesting from an Underwater Kite

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IFAC-PapersOnLine 2022年第37期55卷 169-174页

作者： Miguel Alvarez Tiburcio Debapriya Bhattacharjee Behzad Kadkhodaeielyaderani Hosam K. Fathy Professor of Mechanical Engineering The University of Maryland College Park

This paper addresses the problem of experimentally characterizing the energy conversion losses associated with electricity harvesting from tethered marine hydrokinetic kites. The authors present a laboratory setup intended for this characterization. The setup utilizes two geared brushless DC electric machines. The first electric machine is intended for energy harvesting from a scaled kite system in a lake environment. The second electric machine is used in the laboratory for emulating the mechanical loads associated with energy harvesting, thereby allowing the setup to operate as a hardware-in-the-loop testing system. Experiments conducted using this system, for a kite flight trajectory optimized for mechanical power harvesting, reveal a significant discrepancy between the mechanical power seen at the tether release drum versus the electrical power ultimately generated. Simple linear regression shows that much of this discrepancy can be attributed to mechanical friction within the setup (including the electric machine's gearing), as opposed to electrical impedance. This creates a strong motivation for additional research on trajectory optimization for electrical power generation.

关键词： Marine hydrokinetics energy-harvesting kites power take-off systems hardware-in-the-loop simulation

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Grid-Forming Hybrid Angle Control: Behavior, Stability, Variants and Verification

arXiv

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arXiv 2023年

作者： Tayyebi, Ali Vettoretti, Denis Anta, Adolfo Dörfler, Florian Västerås72226 Sweden Automatic Control Laboratory ETH Zürich Zürich8092 Switzerland Vienna1210 Austria The Automatic Control Laboratory ETH Zürich Zürich8092 Switzerland

This work explores the stability, behavior, variants, and a controller-hardware-in-the-loop (C-HiL) verification of the recently proposed grid-forming (GFM) hybrid angle control (HAC). We revisit the foundation of GFM HAC, and highlight its behavioral properties in relation to the conventional synchronous machine (SM). Next, we introduce the required complementary controls to be combined with the HAC to realize a GFM behavior. The characterization of the analytical operating point and nonlinear energy-based stability analysis of a grid-connected converter under the HAC is presented. Further, we consider various output filter configurations and derive an approximation for the original control proposal. Moreover, we provide details on the integration of GFM HAC into a complex converter control architecture and introduce several variants of the standard HAC. Finally, the performance of GFM HAC is verified by several test scenarios in a C-HiL setup to test its behavior against real-world effect such as noise and delays. © 2023, CC BY.

关键词： hardware-in-the-loop simulation

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hardware-in-the-loop simulation of automatic steering control for Double Lane Change and sine steer manoeuvres

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International Journal of Vehicle Autonomous Systems 2012年第1-2期10卷 67-104页

作者： Ping, Em Poh Hudha, Khisbullah Jamaluddin, Hishamuddin Faculty of Engineering and Technology Multimedia University Jalan Ayer Keroh Lama Bukit Beruang 75450 Melaka Malaysia Department of Mechanical Enginerring Faculty of Engineering University of Widyagama Malang Jl. Borobudur 35 Malang Jawa Timur - 65128 Indonesia 81310 UTM Skudai Johor Malaysia

This paper presents a 9-Degree of Freedom (DOF) vehicle model combined with a closed loop driver model for developing vehicle lateral control. The driver model was developed to control the steering angle and uses predefined path as a reference for the control input. The outer-loop and inner-loop controllers were evaluated by simulation using ISO Double Lane Change (DLC) and sine steer manoeuvres. Both of the controller's Software-In-The-loop simulations (SILS) were validated through the hardware-in-the-loop simulation (HILS). The SILS and HILS results show that the proposed driver model is capable of improving lateral path deviation error and lateral path manoeuvres significantly. Copyright © 2012 Inderscience Enterprises Ltd.

关键词： hardware-in-the-loop simulation

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An FPGA-based Real-Time simulation of a Hybrid Fuel Cell/Battery Source

An FPGA-based Real-Time Simulation of a Hybrid Fuel Cell/Bat...

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IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)

作者： Meddah, Karim Ould-Bachir, Tarek Becherif, Mohamed Benmouna, Amel Polytech Montreal MOTCE Lab Dept Comp Engn Montreal PQ Canada Univ Bourgogne Franche Compte UTBM UMR CNRS 6174 FEMTO ST FCLab F-90010 Belfort France

ISBN: (纸本)9781665448642

This paper presents a new approach for the modeling and real-time simulation of an embedded hybrid power source comprised of a fuel cell (FC) and a battery. The proposed modeling is based on a state-space-like representation of the system equations obtained from the modified-augmented nodal analysis. Systematic formulation of system equations is presented and the solution to the non-linear equations are discussed. The proposed model was implemented on an entry level Field Programmable Gate Array (FPGA), and demonstrates sub-microsecond simulation time-step capability. The real-time solution is obtained by precomputing the system equations for all switch state combinations, and using the backward Euler integration scheme for solving differential equations. A fixed point number representation is utilized for speed and reduced configurable resource utilization. Our results show a high fidelity of the proposed model over a wide range of simulation time-steps and switching frequencies.

关键词： Fuel Cell hardware-in-the-loop simulation Rapid control prototyping Field Programmable Gate Array

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Assessing the influence of the temporal resolution on the electric vehicle charging load modeling accuracy

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ELECTRIC POWER SYSTEMS RESEARCH 2022年第0期208卷 1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 Emil Figge Str 76 D-44227 Dortmund Germany

In the scientific literature, various temporal resolutions have been used to model electric vehicle charging loads. However, in most studies, the used temporal resolution lacks a proper justification. To provide a strengthened theoretical background for all future studies related to electric vehicle charging load modeling, this paper investigates the influence of temporal resolution in different scenarios. To ensure reliable baselines for the comparisons, hardware-in-the-loop simulations with different commercial electric vehicles are carried out. The conducted hardware-in-the-loop simulations consists of 134 real charging sessions in total. In order to compare the influence of different temporal resolutions, a simulation model is developed. The simulation model utilizes comprehensive preliminary measurement-based charging profiles that can be used to model controlled charging in fine detail. The simulation results demonstrate that the simulation model provides sufficiently accurate results in most cases with a temporal resolution of one second. Conversely, a temporal resolution of 3600 s may lead to a modeling error of 50% or even higher. Additionally, the paper shows that the necessary resolution to achieve a modeling error of 5% or less vary between 1 and 900 s depending on the scenario. However, in most cases, resolution of 60 s is reasonably accurate.

关键词： Charging load modeling Electric vehicle hardware-in-the-loop simulation Modeling accuracy Temporal resolution

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Vector control design and analysis for PMSM using real-time HIL simulation

Vector control design and analysis for PMSM using real-time ...

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International Colloquium on Smart Grid Metrology (SmaGriMet)

作者： Kristian Knol Tin Benšić Marinko Barukčić Department of Electromechanical Engineering Faculty of Electrical Engineering Computer Science and Information Technology Osijek Josip Juraj Strossmayer University of Osijek Osijek Croatia

During the development of control strategies for permanent magnet synchronous machines (PMSM) used in wind turbines, usage of wide range of simulation allows for more detailed, more safe and less expensive development. This paper presents type of HIL simulation, where instead of using real controller and real-time simulator, two real-time simulators are used and form a co-simulation environment where vector control of PMSM is conducted. The whole process of designing and simulating is a part of model-based design (MBD). The PMSM is described and controller for vector control is derived. Created co-simulation environment with its advantages and problems is described. An experiment with different scenarios is conducted to test created co-simulation.

关键词： Permanent magnet machines hardware-in-the-loop simulation Loading Metrology Real-time systems Mathematical models Wind turbines

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Virtual SCARA Robot with Reduced Dynamics in a Real-Time simulation Scheme for Robotics and Control Engineering Education

Virtual SCARA Robot with Reduced Dynamics in a Real-Time Sim...

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IEEE International Conference on Electrical, Computer, and Energy Technologies (ICECET)

作者： Santacruz, Alan F. Villalobos, Jessica Sanchez, Irma Y. Paredes, Carlos A. Martell, Fernando Ctr Invest Opt Technol Dev Dept Aguascalientes Aguascalientes Mexico Univ Politecn Aguascalientes Postgrad Acad Dept Aguascalientes Aguascalientes Mexico CONACYT Technol Dev Dept Ctr Invest Opt Aguascalientes Aguascalientes Aguascalientes Mexico

ISBN: (纸本)9781665442312

Industry 4.0 has imposed new challenges and opportunities to engineering education in robotics and control systems. The concept of the digital twin can be partially implemented with the use of virtual robots that incorporate 3D models and numerical simulations of the dynamical behaviour. This work presents the development of a virtual 3D SCARA robot which requires an external controller for the joint and kinematic motion control, this was implemented as a tool for teaching and learning robotics and control. The virtual 3D robot incorporates a novel numerical simulation that combines the Newton-Euler dynamic equations with the Rayleigh energy dissipation equation to consider the viscous friction. The developed virtual robot can be implemented in a real time simulation scheme connected to an external controller and used as an educational tool in a virtual robotics laboratory.

关键词： SCARA Robot Dynamic Modeling Robot Dynamics with Joint Friction hardware-in-the-loop simulation

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