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Multiplexed MPC attitude control of a moving mass satellite using dual-rate piecewise affine model

AEROSPACE SCIENCE AND TECHNOLOGY 2022年第0期128卷

作者： Hu, Yuandong Lu, Zhengliang Ling, K., V Liao, Wenhe Zhang, Xiang Nanjing Univ Sci & Technol Sch Mech Engn 200 Xiaolingwei St Nanjing 210094 Jiangsu Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore

This paper proposes a Multiplexed MPC algorithm for the dual-rate piecewise affine (PWA) model to control the attitude of a low-Earth-orbit (LEO) moving mass satellite. Although still facing an inherent inertial disturbance problem, the moving mass technology is a promising way to counter the strong aerodynamic torques in LEO. To make the satellite attitude fully actuated, a magnetorquer is used to cooperate with the moving mass system, resulting in a two-input control system. Through a strategy that updates inputs asynchronously, the proposed algorithm effectively balances the inertial disturbances caused by mass motions, the system's dynamic performance, and the controller's computational complexity. Error attitude kinematic and dynamic equations are derived, to convert the tracking problem into an equivalent regulation problem. The PWA approximation is used to transform the nonlinear attitude control equations described by error modified Rodrigues parameter to a linear state-space model for MPC design. Then, a new form of Multiplexed MPC, namely dual-rate PWA-MMPC, is developed for this dual-rate PWA model, which updates two control inputs at different rates. Despite only finding sub-optimal solutions to the original problem by stability analysis, this algorithm outperforms other control strategies through its ability to coordinate multiple inputs, deal with constraints, and reduce computational complexity. hardware-in-the-loop simulations are conducted to demonstrate the effectiveness of the proposed methodology for the attitude control. (c) 2022 Elsevier Masson SAS. All rights reserved.

关键词： Attitude control Aerodynamic torques Moving mass Piecewise affine Model predictive control hardware-in-the-loop simulation

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Design of EV hardware-in-the-loop Simulator of Battery and Supercapacitor Hybrid Storage System

Design of EV Hardware-in-the-Loop Simulator of Battery and S...

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2021 International Seminar on Intelligent Technology and Its Application, ISITIA 2021

作者： Rachim, La Ode Muhamad Fathur Lystianingrum, Vita Riawan, Dedet Candra Gunanda, Irwandi Institut Teknologi Sepuluh Nopember Department of Electrical Engineering Surabaya Indonesia

ISBN: (纸本)9781665428477

This paper presents a design of electric vehicle (EV) hardware-in-the-loop (HIL) simulator of battery and supercapacitor hybrid storage system. The EV HIL simulator in this paper uses 2 DC machines and load, where 1 DC machine functions as a motor and 1 DC machine functions as a generator, while the load is used as a load on the generator. The power sharing method used in this paper is filter based control (FBC). The reference or set point used is power, so the error between the reference power and the actual power is controlled by the proportional controller. In this paper also, to equalize the output voltage of each converter with different input voltages, the PWM signal on the supercapacitor converter is multiplied by the gain. There are 2 scenarios presented to see the performance of the designs that have been made, namely no regenerative braking programmed and with regenerative braking programmed. There are 3 conditions seen in the results of the simulator implementation, namely when starting, deceleration and acceleration to see the performance of the power sharing method used. The results show that the simulator that has been designed with the power sharing method used has a very good performance. © 2021 IEEE.

关键词： hardware-in-the-loop simulation

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Model Based Design Accelerometer Control system in EV-ECU For HIL Testing

Model Based Design Accelerometer Control system in EV-ECU Fo...

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Intelligent and Innovative Technologies in Computing, Electrical and Electronics (IITCEE), International Conference

作者： Dusarlapudi Kalyan Kattupalli Sudhakar Paleti Prudhvi Venkata Sai J S V Gopala Krishna Electrical and Electronics Engineering Koneru Lakshmaiah Education Foundation Vijaywada India Department of AI&DS Lakireddy Balireddy College of Engineering Mylavaram India Department of CSE Sir CRR Engineering College Eluru India

hardware-in-the-loop (HIL) simulation ight be a powerful testing procedure that reproduces the Input/output (I/O) conduct of an actual framework that connection points to an effect framework. HIL testing permits the planner to reproduce the continuous way of behaving and attributes of the actual framework. to actually look at the Device Under Test (DUT) which works on the actual framework, without the need for the equipment or functional climate. Hence, reproductions of the sensors of interest will be made with the help of information sheets of a same and can be executed inside the displaying equipment. The proposed HIL simulator might be used for simulating sensors with I2C outputs using MATLAB Simulink. the most aim of the project is to the test the working and monitoring the accelerometer present within the EV using the HIL testing process. By and large, hardware in the loop testing is utilized to actually look at the way of behaving of the framework inside the continuous applications. the most benefits of HIL are permitting trial of regulators in conditions inaccessible on genuine plants.

关键词： Accelerometers Regulators Software packages hardware-in-the-loop simulation Sensor phenomena and characterization Mathematical models hardware

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Model Predictive Controller Based on Online Obtaining of Softness Factor and Fusion Velocity for Automatic Train Operation

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SENSORS 2020年第6期20卷 1719-1719页

作者： Wang, Longda Wang, Xingcheng Sheng, Zhao Lu, Senkui Dalian Maritime Univ Sch Marine Elect Engn Dalian 116026 Peoples R China Beijing Jiaotong Univ Sch Elect & Informat Engn Beijing 100044 Peoples R China

This paper develops an improved model predictive controller based on the online obtaining of softness factor and fusion velocity for automatic train operation to enhance the tracking control performance. Specifically, the softness factor of the improved model predictive control algorithm is not a constant, conversely, an improved online adaptive adjusting method for softness factor based on fuzzy satisfaction of system output value and velocity distance trajectory characteristic is adopted, and an improved whale optimization algorithm has been proposed to solve the adjustable parameters;meanwhile, the system output value for automatic train operation is not sampled by a normal speed sensor, on the contrary, an improved online velocity sampled method for the system output value based on a fusion velocity model and an intelligent digital torque sensor is applied. In addition, the two improved strategies proposed take the real-time storage and calculation capacities of the core chip of the controller into account. Therefore, the proposed improved strategies (I) have good performance in tracking precision, (II) are simple and easily conducted, and (III) can ensure the accomplishing of computational tasks in real-time. Finally, to verify the effectiveness of the improved model predictive controller, the Matlab/simulink simulation and hardware-in-the-loop simulation (HILS) are adopted for automatic train operation tracking control, and the tracking control simulation results indicate that the improved model predictive controller has better tracking control effectiveness compared with the existing traditional improved model predictive controller.

关键词： model predictive controller automatic train operation softness factor fusion velocity online obtaining hardware-in-the-loop simulation

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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 Workshop on Control and Modeling for Power Electronics

作者： Nima Yousefpoor Ali Azidehak Subhashish Bhattacharya Babak Parkhideh Ivan Celanovic Adrien Genic ECE Department North Carolina State University ECE Department UNC-Charlotte Typhooon HIL Inc.

ISBN: (纸本)9781467349154

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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Correlative Analysis of Dynamic Behaviour of Lithium-Ion Cell using MATLAB and Typhoon HIL

Correlative Analysis of Dynamic Behaviour of Lithium-Ion Cel...

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2021 IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and Robotics, DISCOVER 2021

作者： Vishnu, S. Pai, Krishna Praveena Krishna, P.S. Jayalakshmi, N.S. Suraj, S D Prathimala, Venugopal Manipal Institute of Technology Electrical Electronics Engg. MAHE Manipal India KLE Dr. M.S.Sheshgiri College of Engineering and Technology Electrical Electronics Engg. Belagavi India Decibels Labd Pvt Ltd Bangalore India

ISBN: (纸本)9781665412445

The high energy storage density of a Lithium-ion (Liion) cell makes it a good option for modern mobility system. To realize the economic, safe, and reliable utilization of the Li-ion battery pack under different dynamic conditions, the development of accurate Li-ion cell model is necessary for the behavioral analysis. Thevenin's Equivalent Electric Circuit (EEC) based cell model is considered in this simulation work. The focus of the paper is to model and simulate Thevenin's EEC-based Li-ion cell by applying the New European Drive Cycle (NEDC) current profile for Electric Vehicle (EV) applications. The simulation is carried out using both MATLAB/Simulink and Typhoon hardware-In-The-loop (HIL) software and resulted models of the cell from both the methods are graphically analyzed. The merits of HIL simulation approach over offline MATLAB/Simulink method are highlighted such as rapid prototyping and the minimum cost of experimental validation. This model-based design approach further saves time and increases the flexibility in subjecting the cell model to different dynamic environments during simulation, unlike MATLAB/Simulink simulation. © 2021 IEEE.

关键词： hardware-in-the-loop simulation

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TOWARDS HIGH-FIDELITY ANALYSIS ON WHEELED MOBILE ROBOT ON SOFT TERRAIN USING hardware-IN-THE-loop SIMULATOR 20

TOWARDS HIGH-FIDELITY ANALYSIS ON WHEELED MOBILE ROBOT ON SO...

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20th International and 9th Americas Conference of the International Society for Terrain-Vehicle Systems, ISTVS 2021

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

ISBN: (纸本)9781942112525

This paper introduces a hardware-in-the-loop simulation (HILS) framework for a wheeled mobile robot traveling on sandy terrain. The HILS is a hybrid method that incorporates an experimental approach into a numerical simulation. The HILS in our work employs a single-wheel testbed for the experimental setup where the traction force of the wheel on soft soil under various slip conditions is measured. The dynamics of the robot vehicle in response to the wheel traction force is calculated by a simple dynamics model based on Newton’s equation of motion. A key technique of the HILS developed in this work is the damping coefficient implemented in the dynamics model. To verify the fidelity and stability of the HILS, wheel driving tests with the HILS are conducted in the following process: first, a wheel driving data (wheel translational velocity, wheel traction force, and wheel slip) with various input parameters (damping coefficient and wheel angular velocity) is experimentally measured only using the wheel testbed. Subsequently, another wheel driving data is measured while the HILS calculates the dynamic response of the wheel in accordance with the corresponding external forces. The validity of the HILS is compared based on the difference between the actual and calculated wheel driving data. In this process, the value of the damping coefficient is determined such that the dynamic response well matches with the actual driving data. Furthermore, wheel driving data with external disturbances to the wheel is experimentally simulated using the HILS. © ISTVS 2021. All rights reserved.

关键词： hardware-in-the-loop simulation

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Review of Real-time simulation of Power Electronics

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Journal of Modern Power Systems and Clean Energy 2020年第4期8卷 796-808页

作者： Fei Li Yichao Wang Fan Wu Yao Huang Yang Liu Xing Zhang Mingyao Ma School of Electrical Engineering and Automation Hefei University of TechnologyHefeiChina National and Local Joint Engineering Laboratory for Renewable Energy Access to Grid Technology HefeiChina

Real-time simulation of power electronics has been recognized by the industry as an effective tool for developing power electronic devices and *** there is no energy transfer during the course of the usage,real-time simulation has a lot of advantages in the process of development and *** the perspective of real-time simulation,this paper focuses on the main problems in modeling accuracy,system bandwidth and stability,limitations on communication interface and energy interface,and the cost of platform ***,we provide further research directions.

关键词： hardware-in-the-loop simulation modeling and simulation of power electronics correction method power interface algorithm numerical method

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Research on hybrid real-time simulation interface of RTDS digital and physical model 9

Research on hybrid real-time simulation interface of RTDS di...

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9th China International Conference on Electricity Distribution, CICED 2021

作者： Cai, Haiqing Guo, Qi Su, Mingzhang Liu, Shiping Wu, Wencong Huang, Libin Electric Power Research Institute China Southern Power Grid State Key Laboratory of HVDC China National Energy Power Grid Technology R&D Centre Guangzhou510663 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou510663 China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou510663 China Electric Power Research Institute of State Grid Jiangxi Electric Power Company Nanchang330096 China

ISBN: (纸本)9781728192291

Digital real-time simulation of physical mixing can connect renewable energy and new energy storage micro-grid physical systems to real-time simulation systems for research and testing. This paper selects ITM interface algorithm to implement digital physical hybrid real-time simulation of energy system. Through its digital-to-analog interface with external photovoltaic equipment to form a digital physical closed loop system. A hardware-in-the-loop simulation platform for photovoltaic grid-connected system is designed. In this paper, the characteristics of photovoltaic grid-connected systems are studied using a digital-physical hybrid hardware-in-the-loop simulation method. Multidimensional tests such as photovoltaic inverter function and dynamic performance tests and microgrid stability tests are performed, to verify the accuracy and stability of the digital-analog hybrid real-time simulation interface. The simulation provide an economical, stable and accurate test platform for future new energy grid-connected equipment testing. © 2021 IEEE.

关键词： hardware-in-the-loop simulation

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A Passivity-Based Approach for Simulating Satellite Dynamics With Robots: Discrete-Time Integration and Time-Delay Compensation

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IEEE TRANSACTIONS ON ROBOTICS 2020年第1期36卷 189-203页

作者： De Stefano, Marco Balachandran, Ribin Secchi, Cristian German Aerosp Ctr Dept Anal & Control Adv Robot Syst D-82234 Wessling Germany Univ Modena & Reggio Emilia Dept Sci & Methods Engn I-41100 Modena Italy

This article proposes a passivity-based approach for simulating satellite dynamics on a position-controlled robot equipped with a force-torque sensor. Time delays intrinsic in the computational loop and discrete-time integration degrade the behavior of the satellite dynamics reproduced by the robot. These factors can generate an energy-inconsistent simulation and can even render the system unstable. In this article, time delay and discrete-time integration effects are analyzed from an energetic perspective and compensated through a passivity-based control strategy to ensure a faithful and stable dynamic simulation with position-controlled robots. The benefit of the proposed strategy is validated by simulations and experiments on the On-Orbit Servicing Simulator (OOS-SIM), a robotic facility used for simulating free-floating dynamics.

关键词： Service robots Robot sensing systems Dynamics Satellites Delay effects Mathematical model hardware-in-the-loop simulation passive integrator space robotics time-delay compensation

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